merge from MikuMikuStudio nativebullet.

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+       @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Compiling CXX source to assembly CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btPolyhedralContactClipping.s"
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/BulletCollision && /usr/bin/c++  $(CXX_DEFINES) $(CXX_FLAGS) -S /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp -o CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btPolyhedralContactClipping.s
+
+src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btPolyhedralContactClipping.o.requires:
+.PHONY : src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btPolyhedralContactClipping.o.requires
+
+src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btPolyhedralContactClipping.o.provides: src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btPolyhedralContactClipping.o.requires
+       $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btPolyhedralContactClipping.o.provides.build
+.PHONY : src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btPolyhedralContactClipping.o.provides
+
+src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btPolyhedralContactClipping.o.provides.build: src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btPolyhedralContactClipping.o
+
+# Object files for target BulletCollision
+BulletCollision_OBJECTS = \
+"CMakeFiles/BulletCollision.dir/BroadphaseCollision/btAxisSweep3.o" \
+"CMakeFiles/BulletCollision.dir/BroadphaseCollision/btBroadphaseProxy.o" \
+"CMakeFiles/BulletCollision.dir/BroadphaseCollision/btCollisionAlgorithm.o" \
+"CMakeFiles/BulletCollision.dir/BroadphaseCollision/btDbvt.o" \
+"CMakeFiles/BulletCollision.dir/BroadphaseCollision/btDbvtBroadphase.o" \
+"CMakeFiles/BulletCollision.dir/BroadphaseCollision/btDispatcher.o" \
+"CMakeFiles/BulletCollision.dir/BroadphaseCollision/btMultiSapBroadphase.o" \
+"CMakeFiles/BulletCollision.dir/BroadphaseCollision/btOverlappingPairCache.o" \
+"CMakeFiles/BulletCollision.dir/BroadphaseCollision/btQuantizedBvh.o" \
+"CMakeFiles/BulletCollision.dir/BroadphaseCollision/btSimpleBroadphase.o" \
+"CMakeFiles/BulletCollision.dir/CollisionDispatch/btActivatingCollisionAlgorithm.o" \
+"CMakeFiles/BulletCollision.dir/CollisionDispatch/btBoxBoxCollisionAlgorithm.o" \
+"CMakeFiles/BulletCollision.dir/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.o" \
+"CMakeFiles/BulletCollision.dir/CollisionDispatch/btBoxBoxDetector.o" \
+"CMakeFiles/BulletCollision.dir/CollisionDispatch/btCollisionDispatcher.o" \
+"CMakeFiles/BulletCollision.dir/CollisionDispatch/btCollisionObject.o" \
+"CMakeFiles/BulletCollision.dir/CollisionDispatch/btCollisionWorld.o" \
+"CMakeFiles/BulletCollision.dir/CollisionDispatch/btCompoundCollisionAlgorithm.o" \
+"CMakeFiles/BulletCollision.dir/CollisionDispatch/btConvexConcaveCollisionAlgorithm.o" \
+"CMakeFiles/BulletCollision.dir/CollisionDispatch/btConvexConvexAlgorithm.o" \
+"CMakeFiles/BulletCollision.dir/CollisionDispatch/btConvexPlaneCollisionAlgorithm.o" \
+"CMakeFiles/BulletCollision.dir/CollisionDispatch/btConvex2dConvex2dAlgorithm.o" \
+"CMakeFiles/BulletCollision.dir/CollisionDispatch/btDefaultCollisionConfiguration.o" \
+"CMakeFiles/BulletCollision.dir/CollisionDispatch/btEmptyCollisionAlgorithm.o" \
+"CMakeFiles/BulletCollision.dir/CollisionDispatch/btGhostObject.o" \
+"CMakeFiles/BulletCollision.dir/CollisionDispatch/btInternalEdgeUtility.o" \
+"CMakeFiles/BulletCollision.dir/CollisionDispatch/btManifoldResult.o" \
+"CMakeFiles/BulletCollision.dir/CollisionDispatch/btSimulationIslandManager.o" \
+"CMakeFiles/BulletCollision.dir/CollisionDispatch/btSphereBoxCollisionAlgorithm.o" \
+"CMakeFiles/BulletCollision.dir/CollisionDispatch/btSphereSphereCollisionAlgorithm.o" \
+"CMakeFiles/BulletCollision.dir/CollisionDispatch/btSphereTriangleCollisionAlgorithm.o" \
+"CMakeFiles/BulletCollision.dir/CollisionDispatch/btUnionFind.o" \
+"CMakeFiles/BulletCollision.dir/CollisionDispatch/SphereTriangleDetector.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btBoxShape.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btBox2dShape.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btBvhTriangleMeshShape.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btCapsuleShape.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btCollisionShape.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btCompoundShape.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btConcaveShape.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btConeShape.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btConvexHullShape.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btConvexInternalShape.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btConvexPointCloudShape.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btConvexPolyhedron.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btConvexShape.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btConvex2dShape.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btConvexTriangleMeshShape.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btCylinderShape.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btEmptyShape.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btHeightfieldTerrainShape.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btMinkowskiSumShape.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btMultimaterialTriangleMeshShape.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btMultiSphereShape.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btOptimizedBvh.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btPolyhedralConvexShape.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btScaledBvhTriangleMeshShape.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btShapeHull.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btSphereShape.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btStaticPlaneShape.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btStridingMeshInterface.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btTetrahedronShape.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btTriangleBuffer.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btTriangleCallback.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btTriangleIndexVertexArray.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btTriangleIndexVertexMaterialArray.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btTriangleMesh.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btTriangleMeshShape.o" \
+"CMakeFiles/BulletCollision.dir/CollisionShapes/btUniformScalingShape.o" \
+"CMakeFiles/BulletCollision.dir/Gimpact/btContactProcessing.o" \
+"CMakeFiles/BulletCollision.dir/Gimpact/btGenericPoolAllocator.o" \
+"CMakeFiles/BulletCollision.dir/Gimpact/btGImpactBvh.o" \
+"CMakeFiles/BulletCollision.dir/Gimpact/btGImpactCollisionAlgorithm.o" \
+"CMakeFiles/BulletCollision.dir/Gimpact/btGImpactQuantizedBvh.o" \
+"CMakeFiles/BulletCollision.dir/Gimpact/btGImpactShape.o" \
+"CMakeFiles/BulletCollision.dir/Gimpact/btTriangleShapeEx.o" \
+"CMakeFiles/BulletCollision.dir/Gimpact/gim_box_set.o" \
+"CMakeFiles/BulletCollision.dir/Gimpact/gim_contact.o" \
+"CMakeFiles/BulletCollision.dir/Gimpact/gim_memory.o" \
+"CMakeFiles/BulletCollision.dir/Gimpact/gim_tri_collision.o" \
+"CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btContinuousConvexCollision.o" \
+"CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btConvexCast.o" \
+"CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btGjkConvexCast.o" \
+"CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btGjkEpa2.o" \
+"CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.o" \
+"CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btGjkPairDetector.o" \
+"CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.o" \
+"CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btPersistentManifold.o" \
+"CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btRaycastCallback.o" \
+"CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btSubSimplexConvexCast.o" \
+"CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btVoronoiSimplexSolver.o" \
+"CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btPolyhedralContactClipping.o"
+
+# External object files for target BulletCollision
+BulletCollision_EXTERNAL_OBJECTS =
+
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btAxisSweep3.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btBroadphaseProxy.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btCollisionAlgorithm.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btDbvt.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btDbvtBroadphase.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btDispatcher.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btMultiSapBroadphase.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btOverlappingPairCache.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btQuantizedBvh.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btSimpleBroadphase.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btActivatingCollisionAlgorithm.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btBoxBoxCollisionAlgorithm.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btBoxBoxDetector.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btCollisionDispatcher.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btCollisionObject.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btCollisionWorld.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btCompoundCollisionAlgorithm.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btConvexConcaveCollisionAlgorithm.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btConvexConvexAlgorithm.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btConvexPlaneCollisionAlgorithm.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btConvex2dConvex2dAlgorithm.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btDefaultCollisionConfiguration.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btEmptyCollisionAlgorithm.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btGhostObject.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btInternalEdgeUtility.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btManifoldResult.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btSimulationIslandManager.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btSphereBoxCollisionAlgorithm.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btSphereSphereCollisionAlgorithm.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btSphereTriangleCollisionAlgorithm.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btUnionFind.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/SphereTriangleDetector.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btBoxShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btBox2dShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btBvhTriangleMeshShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btCapsuleShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btCollisionShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btCompoundShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btConcaveShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btConeShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btConvexHullShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btConvexInternalShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btConvexPointCloudShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btConvexPolyhedron.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btConvexShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btConvex2dShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btConvexTriangleMeshShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btCylinderShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btEmptyShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btHeightfieldTerrainShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btMinkowskiSumShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btMultimaterialTriangleMeshShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btMultiSphereShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btOptimizedBvh.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btPolyhedralConvexShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btScaledBvhTriangleMeshShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btShapeHull.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btSphereShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btStaticPlaneShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btStridingMeshInterface.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btTetrahedronShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btTriangleBuffer.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btTriangleCallback.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btTriangleIndexVertexArray.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btTriangleIndexVertexMaterialArray.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btTriangleMesh.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btTriangleMeshShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btUniformScalingShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/Gimpact/btContactProcessing.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/Gimpact/btGenericPoolAllocator.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/Gimpact/btGImpactBvh.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/Gimpact/btGImpactCollisionAlgorithm.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/Gimpact/btGImpactQuantizedBvh.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/Gimpact/btGImpactShape.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/Gimpact/btTriangleShapeEx.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/Gimpact/gim_box_set.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/Gimpact/gim_contact.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/Gimpact/gim_memory.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/Gimpact/gim_tri_collision.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btContinuousConvexCollision.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btConvexCast.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btGjkConvexCast.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btGjkEpa2.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btGjkPairDetector.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btPersistentManifold.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btRaycastCallback.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btSubSimplexConvexCast.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btVoronoiSimplexSolver.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btPolyhedralContactClipping.o
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make
+src/BulletCollision/libBulletCollision.a: src/BulletCollision/CMakeFiles/BulletCollision.dir/link.txt
+       @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --red --bold "Linking CXX static library libBulletCollision.a"
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/BulletCollision && $(CMAKE_COMMAND) -P CMakeFiles/BulletCollision.dir/cmake_clean_target.cmake
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/BulletCollision && $(CMAKE_COMMAND) -E cmake_link_script CMakeFiles/BulletCollision.dir/link.txt --verbose=$(VERBOSE)
+
+# Rule to build all files generated by this target.
+src/BulletCollision/CMakeFiles/BulletCollision.dir/build: src/BulletCollision/libBulletCollision.a
+.PHONY : src/BulletCollision/CMakeFiles/BulletCollision.dir/build
+
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btSphereTriangleCollisionAlgorithm.s
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btUnionFind.o
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+# target to preprocess a source file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btUnionFind.i
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+# target to generate assembly for a file
+CollisionDispatch/btUnionFind.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btUnionFind.s
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+# target to build an object file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btBox2dShape.o
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+# target to preprocess a source file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btBox2dShape.i
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+# target to generate assembly for a file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btBox2dShape.s
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+# target to build an object file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btBoxShape.o
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+# target to generate assembly for a file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btBoxShape.s
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+# target to build an object file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btBvhTriangleMeshShape.o
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+# target to generate assembly for a file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btBvhTriangleMeshShape.s
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+# target to build an object file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btCapsuleShape.o
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+# target to preprocess a source file
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+# target to generate assembly for a file
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+# target to preprocess a source file
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+# target to generate assembly for a file
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+# target to preprocess a source file
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+# target to generate assembly for a file
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+# target to build an object file
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+# target to preprocess a source file
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+# target to generate assembly for a file
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+# target to build an object file
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+# target to preprocess a source file
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+# target to generate assembly for a file
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+# target to build an object file
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+# target to preprocess a source file
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+# target to generate assembly for a file
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+# target to build an object file
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+# target to preprocess a source file
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+# target to generate assembly for a file
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+# target to build an object file
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+# target to preprocess a source file
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+# target to generate assembly for a file
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+# target to build an object file
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+# target to generate assembly for a file
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+# target to generate assembly for a file
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+# target to preprocess a source file
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+# target to generate assembly for a file
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+# target to build an object file
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+# target to generate assembly for a file
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+# target to build an object file
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+# target to preprocess a source file
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+# target to generate assembly for a file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btEmptyShape.s
+.PHONY : CollisionShapes/btEmptyShape.s
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+# target to build an object file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btHeightfieldTerrainShape.o
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+
+# target to preprocess a source file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btHeightfieldTerrainShape.i
+.PHONY : CollisionShapes/btHeightfieldTerrainShape.i
+
+# target to generate assembly for a file
+CollisionShapes/btHeightfieldTerrainShape.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btHeightfieldTerrainShape.s
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+# target to build an object file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btMinkowskiSumShape.o
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+# target to preprocess a source file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btMinkowskiSumShape.i
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+# target to generate assembly for a file
+CollisionShapes/btMinkowskiSumShape.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btMinkowskiSumShape.s
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+# target to build an object file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btMultiSphereShape.o
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+# target to preprocess a source file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btMultiSphereShape.i
+.PHONY : CollisionShapes/btMultiSphereShape.i
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+# target to generate assembly for a file
+CollisionShapes/btMultiSphereShape.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btMultiSphereShape.s
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+# target to build an object file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btMultimaterialTriangleMeshShape.o
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+# target to preprocess a source file
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+# target to generate assembly for a file
+CollisionShapes/btMultimaterialTriangleMeshShape.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btMultimaterialTriangleMeshShape.s
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+# target to build an object file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btOptimizedBvh.o
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+# target to preprocess a source file
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+# target to generate assembly for a file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btOptimizedBvh.s
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+# target to build an object file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btPolyhedralConvexShape.o
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+# target to preprocess a source file
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+# target to generate assembly for a file
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+# target to build an object file
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+# target to preprocess a source file
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+# target to generate assembly for a file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btScaledBvhTriangleMeshShape.s
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+# target to build an object file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btShapeHull.o
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+# target to preprocess a source file
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+# target to generate assembly for a file
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+# target to build an object file
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+# target to preprocess a source file
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+# target to generate assembly for a file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btSphereShape.s
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+# target to build an object file
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+# target to preprocess a source file
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+# target to generate assembly for a file
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+
+# target to build an object file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btStridingMeshInterface.o
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+# target to preprocess a source file
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+# target to generate assembly for a file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btStridingMeshInterface.s
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+# target to build an object file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionShapes/btTetrahedronShape.o
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+# target to preprocess a source file
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+# target to generate assembly for a file
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+# target to build an object file
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+# target to preprocess a source file
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+# target to generate assembly for a file
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+# target to build an object file
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+# target to preprocess a source file
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+# target to generate assembly for a file
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+# target to build an object file
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+# target to preprocess a source file
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+# target to generate assembly for a file
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+# target to build an object file
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+# target to preprocess a source file
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+# target to generate assembly for a file
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+# target to preprocess a source file
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+# target to generate assembly for a file
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+# target to build an object file
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+# target to preprocess a source file
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+# target to preprocess a source file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btGjkPairDetector.i
+.PHONY : NarrowPhaseCollision/btGjkPairDetector.i
+
+# target to generate assembly for a file
+NarrowPhaseCollision/btGjkPairDetector.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btGjkPairDetector.s
+.PHONY : NarrowPhaseCollision/btGjkPairDetector.s
+
+# target to build an object file
+NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.o
+.PHONY : NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.o
+
+# target to preprocess a source file
+NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.i
+.PHONY : NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.i
+
+# target to generate assembly for a file
+NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.s
+.PHONY : NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.s
+
+# target to build an object file
+NarrowPhaseCollision/btPersistentManifold.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btPersistentManifold.o
+.PHONY : NarrowPhaseCollision/btPersistentManifold.o
+
+# target to preprocess a source file
+NarrowPhaseCollision/btPersistentManifold.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btPersistentManifold.i
+.PHONY : NarrowPhaseCollision/btPersistentManifold.i
+
+# target to generate assembly for a file
+NarrowPhaseCollision/btPersistentManifold.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btPersistentManifold.s
+.PHONY : NarrowPhaseCollision/btPersistentManifold.s
+
+# target to build an object file
+NarrowPhaseCollision/btPolyhedralContactClipping.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btPolyhedralContactClipping.o
+.PHONY : NarrowPhaseCollision/btPolyhedralContactClipping.o
+
+# target to preprocess a source file
+NarrowPhaseCollision/btPolyhedralContactClipping.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btPolyhedralContactClipping.i
+.PHONY : NarrowPhaseCollision/btPolyhedralContactClipping.i
+
+# target to generate assembly for a file
+NarrowPhaseCollision/btPolyhedralContactClipping.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btPolyhedralContactClipping.s
+.PHONY : NarrowPhaseCollision/btPolyhedralContactClipping.s
+
+# target to build an object file
+NarrowPhaseCollision/btRaycastCallback.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btRaycastCallback.o
+.PHONY : NarrowPhaseCollision/btRaycastCallback.o
+
+# target to preprocess a source file
+NarrowPhaseCollision/btRaycastCallback.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btRaycastCallback.i
+.PHONY : NarrowPhaseCollision/btRaycastCallback.i
+
+# target to generate assembly for a file
+NarrowPhaseCollision/btRaycastCallback.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btRaycastCallback.s
+.PHONY : NarrowPhaseCollision/btRaycastCallback.s
+
+# target to build an object file
+NarrowPhaseCollision/btSubSimplexConvexCast.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btSubSimplexConvexCast.o
+.PHONY : NarrowPhaseCollision/btSubSimplexConvexCast.o
+
+# target to preprocess a source file
+NarrowPhaseCollision/btSubSimplexConvexCast.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btSubSimplexConvexCast.i
+.PHONY : NarrowPhaseCollision/btSubSimplexConvexCast.i
+
+# target to generate assembly for a file
+NarrowPhaseCollision/btSubSimplexConvexCast.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btSubSimplexConvexCast.s
+.PHONY : NarrowPhaseCollision/btSubSimplexConvexCast.s
+
+# target to build an object file
+NarrowPhaseCollision/btVoronoiSimplexSolver.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btVoronoiSimplexSolver.o
+.PHONY : NarrowPhaseCollision/btVoronoiSimplexSolver.o
+
+# target to preprocess a source file
+NarrowPhaseCollision/btVoronoiSimplexSolver.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btVoronoiSimplexSolver.i
+.PHONY : NarrowPhaseCollision/btVoronoiSimplexSolver.i
+
+# target to generate assembly for a file
+NarrowPhaseCollision/btVoronoiSimplexSolver.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletCollision/CMakeFiles/BulletCollision.dir/build.make src/BulletCollision/CMakeFiles/BulletCollision.dir/NarrowPhaseCollision/btVoronoiSimplexSolver.s
+.PHONY : NarrowPhaseCollision/btVoronoiSimplexSolver.s
+
+# Help Target
+help:
+       @echo "The following are some of the valid targets for this Makefile:"
+       @echo "... all (the default if no target is provided)"
+       @echo "... clean"
+       @echo "... depend"
+       @echo "... BulletCollision"
+       @echo "... edit_cache"
+       @echo "... install"
+       @echo "... install/local"
+       @echo "... install/strip"
+       @echo "... list_install_components"
+       @echo "... rebuild_cache"
+       @echo "... BroadphaseCollision/btAxisSweep3.o"
+       @echo "... BroadphaseCollision/btAxisSweep3.i"
+       @echo "... BroadphaseCollision/btAxisSweep3.s"
+       @echo "... BroadphaseCollision/btBroadphaseProxy.o"
+       @echo "... BroadphaseCollision/btBroadphaseProxy.i"
+       @echo "... BroadphaseCollision/btBroadphaseProxy.s"
+       @echo "... BroadphaseCollision/btCollisionAlgorithm.o"
+       @echo "... BroadphaseCollision/btCollisionAlgorithm.i"
+       @echo "... BroadphaseCollision/btCollisionAlgorithm.s"
+       @echo "... BroadphaseCollision/btDbvt.o"
+       @echo "... BroadphaseCollision/btDbvt.i"
+       @echo "... BroadphaseCollision/btDbvt.s"
+       @echo "... BroadphaseCollision/btDbvtBroadphase.o"
+       @echo "... BroadphaseCollision/btDbvtBroadphase.i"
+       @echo "... BroadphaseCollision/btDbvtBroadphase.s"
+       @echo "... BroadphaseCollision/btDispatcher.o"
+       @echo "... BroadphaseCollision/btDispatcher.i"
+       @echo "... BroadphaseCollision/btDispatcher.s"
+       @echo "... BroadphaseCollision/btMultiSapBroadphase.o"
+       @echo "... BroadphaseCollision/btMultiSapBroadphase.i"
+       @echo "... BroadphaseCollision/btMultiSapBroadphase.s"
+       @echo "... BroadphaseCollision/btOverlappingPairCache.o"
+       @echo "... BroadphaseCollision/btOverlappingPairCache.i"
+       @echo "... BroadphaseCollision/btOverlappingPairCache.s"
+       @echo "... BroadphaseCollision/btQuantizedBvh.o"
+       @echo "... BroadphaseCollision/btQuantizedBvh.i"
+       @echo "... BroadphaseCollision/btQuantizedBvh.s"
+       @echo "... BroadphaseCollision/btSimpleBroadphase.o"
+       @echo "... BroadphaseCollision/btSimpleBroadphase.i"
+       @echo "... BroadphaseCollision/btSimpleBroadphase.s"
+       @echo "... CollisionDispatch/SphereTriangleDetector.o"
+       @echo "... CollisionDispatch/SphereTriangleDetector.i"
+       @echo "... CollisionDispatch/SphereTriangleDetector.s"
+       @echo "... CollisionDispatch/btActivatingCollisionAlgorithm.o"
+       @echo "... CollisionDispatch/btActivatingCollisionAlgorithm.i"
+       @echo "... CollisionDispatch/btActivatingCollisionAlgorithm.s"
+       @echo "... CollisionDispatch/btBox2dBox2dCollisionAlgorithm.o"
+       @echo "... CollisionDispatch/btBox2dBox2dCollisionAlgorithm.i"
+       @echo "... CollisionDispatch/btBox2dBox2dCollisionAlgorithm.s"
+       @echo "... CollisionDispatch/btBoxBoxCollisionAlgorithm.o"
+       @echo "... CollisionDispatch/btBoxBoxCollisionAlgorithm.i"
+       @echo "... CollisionDispatch/btBoxBoxCollisionAlgorithm.s"
+       @echo "... CollisionDispatch/btBoxBoxDetector.o"
+       @echo "... CollisionDispatch/btBoxBoxDetector.i"
+       @echo "... CollisionDispatch/btBoxBoxDetector.s"
+       @echo "... CollisionDispatch/btCollisionDispatcher.o"
+       @echo "... CollisionDispatch/btCollisionDispatcher.i"
+       @echo "... CollisionDispatch/btCollisionDispatcher.s"
+       @echo "... CollisionDispatch/btCollisionObject.o"
+       @echo "... CollisionDispatch/btCollisionObject.i"
+       @echo "... CollisionDispatch/btCollisionObject.s"
+       @echo "... CollisionDispatch/btCollisionWorld.o"
+       @echo "... CollisionDispatch/btCollisionWorld.i"
+       @echo "... CollisionDispatch/btCollisionWorld.s"
+       @echo "... CollisionDispatch/btCompoundCollisionAlgorithm.o"
+       @echo "... CollisionDispatch/btCompoundCollisionAlgorithm.i"
+       @echo "... CollisionDispatch/btCompoundCollisionAlgorithm.s"
+       @echo "... CollisionDispatch/btConvex2dConvex2dAlgorithm.o"
+       @echo "... CollisionDispatch/btConvex2dConvex2dAlgorithm.i"
+       @echo "... CollisionDispatch/btConvex2dConvex2dAlgorithm.s"
+       @echo "... CollisionDispatch/btConvexConcaveCollisionAlgorithm.o"
+       @echo "... CollisionDispatch/btConvexConcaveCollisionAlgorithm.i"
+       @echo "... CollisionDispatch/btConvexConcaveCollisionAlgorithm.s"
+       @echo "... CollisionDispatch/btConvexConvexAlgorithm.o"
+       @echo "... CollisionDispatch/btConvexConvexAlgorithm.i"
+       @echo "... CollisionDispatch/btConvexConvexAlgorithm.s"
+       @echo "... CollisionDispatch/btConvexPlaneCollisionAlgorithm.o"
+       @echo "... CollisionDispatch/btConvexPlaneCollisionAlgorithm.i"
+       @echo "... CollisionDispatch/btConvexPlaneCollisionAlgorithm.s"
+       @echo "... CollisionDispatch/btDefaultCollisionConfiguration.o"
+       @echo "... CollisionDispatch/btDefaultCollisionConfiguration.i"
+       @echo "... CollisionDispatch/btDefaultCollisionConfiguration.s"
+       @echo "... CollisionDispatch/btEmptyCollisionAlgorithm.o"
+       @echo "... CollisionDispatch/btEmptyCollisionAlgorithm.i"
+       @echo "... CollisionDispatch/btEmptyCollisionAlgorithm.s"
+       @echo "... CollisionDispatch/btGhostObject.o"
+       @echo "... CollisionDispatch/btGhostObject.i"
+       @echo "... CollisionDispatch/btGhostObject.s"
+       @echo "... CollisionDispatch/btInternalEdgeUtility.o"
+       @echo "... CollisionDispatch/btInternalEdgeUtility.i"
+       @echo "... CollisionDispatch/btInternalEdgeUtility.s"
+       @echo "... CollisionDispatch/btManifoldResult.o"
+       @echo "... CollisionDispatch/btManifoldResult.i"
+       @echo "... CollisionDispatch/btManifoldResult.s"
+       @echo "... CollisionDispatch/btSimulationIslandManager.o"
+       @echo "... CollisionDispatch/btSimulationIslandManager.i"
+       @echo "... CollisionDispatch/btSimulationIslandManager.s"
+       @echo "... CollisionDispatch/btSphereBoxCollisionAlgorithm.o"
+       @echo "... CollisionDispatch/btSphereBoxCollisionAlgorithm.i"
+       @echo "... CollisionDispatch/btSphereBoxCollisionAlgorithm.s"
+       @echo "... CollisionDispatch/btSphereSphereCollisionAlgorithm.o"
+       @echo "... CollisionDispatch/btSphereSphereCollisionAlgorithm.i"
+       @echo "... CollisionDispatch/btSphereSphereCollisionAlgorithm.s"
+       @echo "... CollisionDispatch/btSphereTriangleCollisionAlgorithm.o"
+       @echo "... CollisionDispatch/btSphereTriangleCollisionAlgorithm.i"
+       @echo "... CollisionDispatch/btSphereTriangleCollisionAlgorithm.s"
+       @echo "... CollisionDispatch/btUnionFind.o"
+       @echo "... CollisionDispatch/btUnionFind.i"
+       @echo "... CollisionDispatch/btUnionFind.s"
+       @echo "... CollisionShapes/btBox2dShape.o"
+       @echo "... CollisionShapes/btBox2dShape.i"
+       @echo "... CollisionShapes/btBox2dShape.s"
+       @echo "... CollisionShapes/btBoxShape.o"
+       @echo "... CollisionShapes/btBoxShape.i"
+       @echo "... CollisionShapes/btBoxShape.s"
+       @echo "... CollisionShapes/btBvhTriangleMeshShape.o"
+       @echo "... CollisionShapes/btBvhTriangleMeshShape.i"
+       @echo "... CollisionShapes/btBvhTriangleMeshShape.s"
+       @echo "... CollisionShapes/btCapsuleShape.o"
+       @echo "... CollisionShapes/btCapsuleShape.i"
+       @echo "... CollisionShapes/btCapsuleShape.s"
+       @echo "... CollisionShapes/btCollisionShape.o"
+       @echo "... CollisionShapes/btCollisionShape.i"
+       @echo "... CollisionShapes/btCollisionShape.s"
+       @echo "... CollisionShapes/btCompoundShape.o"
+       @echo "... CollisionShapes/btCompoundShape.i"
+       @echo "... CollisionShapes/btCompoundShape.s"
+       @echo "... CollisionShapes/btConcaveShape.o"
+       @echo "... CollisionShapes/btConcaveShape.i"
+       @echo "... CollisionShapes/btConcaveShape.s"
+       @echo "... CollisionShapes/btConeShape.o"
+       @echo "... CollisionShapes/btConeShape.i"
+       @echo "... CollisionShapes/btConeShape.s"
+       @echo "... CollisionShapes/btConvex2dShape.o"
+       @echo "... CollisionShapes/btConvex2dShape.i"
+       @echo "... CollisionShapes/btConvex2dShape.s"
+       @echo "... CollisionShapes/btConvexHullShape.o"
+       @echo "... CollisionShapes/btConvexHullShape.i"
+       @echo "... CollisionShapes/btConvexHullShape.s"
+       @echo "... CollisionShapes/btConvexInternalShape.o"
+       @echo "... CollisionShapes/btConvexInternalShape.i"
+       @echo "... CollisionShapes/btConvexInternalShape.s"
+       @echo "... CollisionShapes/btConvexPointCloudShape.o"
+       @echo "... CollisionShapes/btConvexPointCloudShape.i"
+       @echo "... CollisionShapes/btConvexPointCloudShape.s"
+       @echo "... CollisionShapes/btConvexPolyhedron.o"
+       @echo "... CollisionShapes/btConvexPolyhedron.i"
+       @echo "... CollisionShapes/btConvexPolyhedron.s"
+       @echo "... CollisionShapes/btConvexShape.o"
+       @echo "... CollisionShapes/btConvexShape.i"
+       @echo "... CollisionShapes/btConvexShape.s"
+       @echo "... CollisionShapes/btConvexTriangleMeshShape.o"
+       @echo "... CollisionShapes/btConvexTriangleMeshShape.i"
+       @echo "... CollisionShapes/btConvexTriangleMeshShape.s"
+       @echo "... CollisionShapes/btCylinderShape.o"
+       @echo "... CollisionShapes/btCylinderShape.i"
+       @echo "... CollisionShapes/btCylinderShape.s"
+       @echo "... CollisionShapes/btEmptyShape.o"
+       @echo "... CollisionShapes/btEmptyShape.i"
+       @echo "... CollisionShapes/btEmptyShape.s"
+       @echo "... CollisionShapes/btHeightfieldTerrainShape.o"
+       @echo "... CollisionShapes/btHeightfieldTerrainShape.i"
+       @echo "... CollisionShapes/btHeightfieldTerrainShape.s"
+       @echo "... CollisionShapes/btMinkowskiSumShape.o"
+       @echo "... CollisionShapes/btMinkowskiSumShape.i"
+       @echo "... CollisionShapes/btMinkowskiSumShape.s"
+       @echo "... CollisionShapes/btMultiSphereShape.o"
+       @echo "... CollisionShapes/btMultiSphereShape.i"
+       @echo "... CollisionShapes/btMultiSphereShape.s"
+       @echo "... CollisionShapes/btMultimaterialTriangleMeshShape.o"
+       @echo "... CollisionShapes/btMultimaterialTriangleMeshShape.i"
+       @echo "... CollisionShapes/btMultimaterialTriangleMeshShape.s"
+       @echo "... CollisionShapes/btOptimizedBvh.o"
+       @echo "... CollisionShapes/btOptimizedBvh.i"
+       @echo "... CollisionShapes/btOptimizedBvh.s"
+       @echo "... CollisionShapes/btPolyhedralConvexShape.o"
+       @echo "... CollisionShapes/btPolyhedralConvexShape.i"
+       @echo "... CollisionShapes/btPolyhedralConvexShape.s"
+       @echo "... CollisionShapes/btScaledBvhTriangleMeshShape.o"
+       @echo "... CollisionShapes/btScaledBvhTriangleMeshShape.i"
+       @echo "... CollisionShapes/btScaledBvhTriangleMeshShape.s"
+       @echo "... CollisionShapes/btShapeHull.o"
+       @echo "... CollisionShapes/btShapeHull.i"
+       @echo "... CollisionShapes/btShapeHull.s"
+       @echo "... CollisionShapes/btSphereShape.o"
+       @echo "... CollisionShapes/btSphereShape.i"
+       @echo "... CollisionShapes/btSphereShape.s"
+       @echo "... CollisionShapes/btStaticPlaneShape.o"
+       @echo "... CollisionShapes/btStaticPlaneShape.i"
+       @echo "... CollisionShapes/btStaticPlaneShape.s"
+       @echo "... CollisionShapes/btStridingMeshInterface.o"
+       @echo "... CollisionShapes/btStridingMeshInterface.i"
+       @echo "... CollisionShapes/btStridingMeshInterface.s"
+       @echo "... CollisionShapes/btTetrahedronShape.o"
+       @echo "... CollisionShapes/btTetrahedronShape.i"
+       @echo "... CollisionShapes/btTetrahedronShape.s"
+       @echo "... CollisionShapes/btTriangleBuffer.o"
+       @echo "... CollisionShapes/btTriangleBuffer.i"
+       @echo "... CollisionShapes/btTriangleBuffer.s"
+       @echo "... CollisionShapes/btTriangleCallback.o"
+       @echo "... CollisionShapes/btTriangleCallback.i"
+       @echo "... CollisionShapes/btTriangleCallback.s"
+       @echo "... CollisionShapes/btTriangleIndexVertexArray.o"
+       @echo "... CollisionShapes/btTriangleIndexVertexArray.i"
+       @echo "... CollisionShapes/btTriangleIndexVertexArray.s"
+       @echo "... CollisionShapes/btTriangleIndexVertexMaterialArray.o"
+       @echo "... CollisionShapes/btTriangleIndexVertexMaterialArray.i"
+       @echo "... CollisionShapes/btTriangleIndexVertexMaterialArray.s"
+       @echo "... CollisionShapes/btTriangleMesh.o"
+       @echo "... CollisionShapes/btTriangleMesh.i"
+       @echo "... CollisionShapes/btTriangleMesh.s"
+       @echo "... CollisionShapes/btTriangleMeshShape.o"
+       @echo "... CollisionShapes/btTriangleMeshShape.i"
+       @echo "... CollisionShapes/btTriangleMeshShape.s"
+       @echo "... CollisionShapes/btUniformScalingShape.o"
+       @echo "... CollisionShapes/btUniformScalingShape.i"
+       @echo "... CollisionShapes/btUniformScalingShape.s"
+       @echo "... Gimpact/btContactProcessing.o"
+       @echo "... Gimpact/btContactProcessing.i"
+       @echo "... Gimpact/btContactProcessing.s"
+       @echo "... Gimpact/btGImpactBvh.o"
+       @echo "... Gimpact/btGImpactBvh.i"
+       @echo "... Gimpact/btGImpactBvh.s"
+       @echo "... Gimpact/btGImpactCollisionAlgorithm.o"
+       @echo "... Gimpact/btGImpactCollisionAlgorithm.i"
+       @echo "... Gimpact/btGImpactCollisionAlgorithm.s"
+       @echo "... Gimpact/btGImpactQuantizedBvh.o"
+       @echo "... Gimpact/btGImpactQuantizedBvh.i"
+       @echo "... Gimpact/btGImpactQuantizedBvh.s"
+       @echo "... Gimpact/btGImpactShape.o"
+       @echo "... Gimpact/btGImpactShape.i"
+       @echo "... Gimpact/btGImpactShape.s"
+       @echo "... Gimpact/btGenericPoolAllocator.o"
+       @echo "... Gimpact/btGenericPoolAllocator.i"
+       @echo "... Gimpact/btGenericPoolAllocator.s"
+       @echo "... Gimpact/btTriangleShapeEx.o"
+       @echo "... Gimpact/btTriangleShapeEx.i"
+       @echo "... Gimpact/btTriangleShapeEx.s"
+       @echo "... Gimpact/gim_box_set.o"
+       @echo "... Gimpact/gim_box_set.i"
+       @echo "... Gimpact/gim_box_set.s"
+       @echo "... Gimpact/gim_contact.o"
+       @echo "... Gimpact/gim_contact.i"
+       @echo "... Gimpact/gim_contact.s"
+       @echo "... Gimpact/gim_memory.o"
+       @echo "... Gimpact/gim_memory.i"
+       @echo "... Gimpact/gim_memory.s"
+       @echo "... Gimpact/gim_tri_collision.o"
+       @echo "... Gimpact/gim_tri_collision.i"
+       @echo "... Gimpact/gim_tri_collision.s"
+       @echo "... NarrowPhaseCollision/btContinuousConvexCollision.o"
+       @echo "... NarrowPhaseCollision/btContinuousConvexCollision.i"
+       @echo "... NarrowPhaseCollision/btContinuousConvexCollision.s"
+       @echo "... NarrowPhaseCollision/btConvexCast.o"
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
+.PHONY : depend
+
+# Convenience name for target.
+src/BulletDynamics/CMakeFiles/BulletDynamics.dir/rule:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f CMakeFiles/Makefile2 src/BulletDynamics/CMakeFiles/BulletDynamics.dir/rule
+.PHONY : src/BulletDynamics/CMakeFiles/BulletDynamics.dir/rule
+
+# Convenience name for target.
+BulletDynamics: src/BulletDynamics/CMakeFiles/BulletDynamics.dir/rule
+.PHONY : BulletDynamics
+
+# fast build rule for target.
+BulletDynamics/fast:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build
+.PHONY : BulletDynamics/fast
+
+# target to build an object file
+Character/btKinematicCharacterController.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Character/btKinematicCharacterController.o
+.PHONY : Character/btKinematicCharacterController.o
+
+# target to preprocess a source file
+Character/btKinematicCharacterController.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Character/btKinematicCharacterController.i
+.PHONY : Character/btKinematicCharacterController.i
+
+# target to generate assembly for a file
+Character/btKinematicCharacterController.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Character/btKinematicCharacterController.s
+.PHONY : Character/btKinematicCharacterController.s
+
+# target to build an object file
+ConstraintSolver/btConeTwistConstraint.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btConeTwistConstraint.o
+.PHONY : ConstraintSolver/btConeTwistConstraint.o
+
+# target to preprocess a source file
+ConstraintSolver/btConeTwistConstraint.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btConeTwistConstraint.i
+.PHONY : ConstraintSolver/btConeTwistConstraint.i
+
+# target to generate assembly for a file
+ConstraintSolver/btConeTwistConstraint.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btConeTwistConstraint.s
+.PHONY : ConstraintSolver/btConeTwistConstraint.s
+
+# target to build an object file
+ConstraintSolver/btContactConstraint.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btContactConstraint.o
+.PHONY : ConstraintSolver/btContactConstraint.o
+
+# target to preprocess a source file
+ConstraintSolver/btContactConstraint.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btContactConstraint.i
+.PHONY : ConstraintSolver/btContactConstraint.i
+
+# target to generate assembly for a file
+ConstraintSolver/btContactConstraint.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btContactConstraint.s
+.PHONY : ConstraintSolver/btContactConstraint.s
+
+# target to build an object file
+ConstraintSolver/btGearConstraint.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btGearConstraint.o
+.PHONY : ConstraintSolver/btGearConstraint.o
+
+# target to preprocess a source file
+ConstraintSolver/btGearConstraint.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btGearConstraint.i
+.PHONY : ConstraintSolver/btGearConstraint.i
+
+# target to generate assembly for a file
+ConstraintSolver/btGearConstraint.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btGearConstraint.s
+.PHONY : ConstraintSolver/btGearConstraint.s
+
+# target to build an object file
+ConstraintSolver/btGeneric6DofConstraint.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btGeneric6DofConstraint.o
+.PHONY : ConstraintSolver/btGeneric6DofConstraint.o
+
+# target to preprocess a source file
+ConstraintSolver/btGeneric6DofConstraint.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btGeneric6DofConstraint.i
+.PHONY : ConstraintSolver/btGeneric6DofConstraint.i
+
+# target to generate assembly for a file
+ConstraintSolver/btGeneric6DofConstraint.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btGeneric6DofConstraint.s
+.PHONY : ConstraintSolver/btGeneric6DofConstraint.s
+
+# target to build an object file
+ConstraintSolver/btGeneric6DofSpringConstraint.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btGeneric6DofSpringConstraint.o
+.PHONY : ConstraintSolver/btGeneric6DofSpringConstraint.o
+
+# target to preprocess a source file
+ConstraintSolver/btGeneric6DofSpringConstraint.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btGeneric6DofSpringConstraint.i
+.PHONY : ConstraintSolver/btGeneric6DofSpringConstraint.i
+
+# target to generate assembly for a file
+ConstraintSolver/btGeneric6DofSpringConstraint.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btGeneric6DofSpringConstraint.s
+.PHONY : ConstraintSolver/btGeneric6DofSpringConstraint.s
+
+# target to build an object file
+ConstraintSolver/btHinge2Constraint.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btHinge2Constraint.o
+.PHONY : ConstraintSolver/btHinge2Constraint.o
+
+# target to preprocess a source file
+ConstraintSolver/btHinge2Constraint.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btHinge2Constraint.i
+.PHONY : ConstraintSolver/btHinge2Constraint.i
+
+# target to generate assembly for a file
+ConstraintSolver/btHinge2Constraint.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btHinge2Constraint.s
+.PHONY : ConstraintSolver/btHinge2Constraint.s
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+# target to build an object file
+ConstraintSolver/btHingeConstraint.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btHingeConstraint.o
+.PHONY : ConstraintSolver/btHingeConstraint.o
+
+# target to preprocess a source file
+ConstraintSolver/btHingeConstraint.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btHingeConstraint.i
+.PHONY : ConstraintSolver/btHingeConstraint.i
+
+# target to generate assembly for a file
+ConstraintSolver/btHingeConstraint.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btHingeConstraint.s
+.PHONY : ConstraintSolver/btHingeConstraint.s
+
+# target to build an object file
+ConstraintSolver/btPoint2PointConstraint.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btPoint2PointConstraint.o
+.PHONY : ConstraintSolver/btPoint2PointConstraint.o
+
+# target to preprocess a source file
+ConstraintSolver/btPoint2PointConstraint.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btPoint2PointConstraint.i
+.PHONY : ConstraintSolver/btPoint2PointConstraint.i
+
+# target to generate assembly for a file
+ConstraintSolver/btPoint2PointConstraint.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btPoint2PointConstraint.s
+.PHONY : ConstraintSolver/btPoint2PointConstraint.s
+
+# target to build an object file
+ConstraintSolver/btSequentialImpulseConstraintSolver.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btSequentialImpulseConstraintSolver.o
+.PHONY : ConstraintSolver/btSequentialImpulseConstraintSolver.o
+
+# target to preprocess a source file
+ConstraintSolver/btSequentialImpulseConstraintSolver.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btSequentialImpulseConstraintSolver.i
+.PHONY : ConstraintSolver/btSequentialImpulseConstraintSolver.i
+
+# target to generate assembly for a file
+ConstraintSolver/btSequentialImpulseConstraintSolver.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btSequentialImpulseConstraintSolver.s
+.PHONY : ConstraintSolver/btSequentialImpulseConstraintSolver.s
+
+# target to build an object file
+ConstraintSolver/btSliderConstraint.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btSliderConstraint.o
+.PHONY : ConstraintSolver/btSliderConstraint.o
+
+# target to preprocess a source file
+ConstraintSolver/btSliderConstraint.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btSliderConstraint.i
+.PHONY : ConstraintSolver/btSliderConstraint.i
+
+# target to generate assembly for a file
+ConstraintSolver/btSliderConstraint.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btSliderConstraint.s
+.PHONY : ConstraintSolver/btSliderConstraint.s
+
+# target to build an object file
+ConstraintSolver/btSolve2LinearConstraint.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btSolve2LinearConstraint.o
+.PHONY : ConstraintSolver/btSolve2LinearConstraint.o
+
+# target to preprocess a source file
+ConstraintSolver/btSolve2LinearConstraint.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btSolve2LinearConstraint.i
+.PHONY : ConstraintSolver/btSolve2LinearConstraint.i
+
+# target to generate assembly for a file
+ConstraintSolver/btSolve2LinearConstraint.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btSolve2LinearConstraint.s
+.PHONY : ConstraintSolver/btSolve2LinearConstraint.s
+
+# target to build an object file
+ConstraintSolver/btTypedConstraint.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btTypedConstraint.o
+.PHONY : ConstraintSolver/btTypedConstraint.o
+
+# target to preprocess a source file
+ConstraintSolver/btTypedConstraint.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btTypedConstraint.i
+.PHONY : ConstraintSolver/btTypedConstraint.i
+
+# target to generate assembly for a file
+ConstraintSolver/btTypedConstraint.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btTypedConstraint.s
+.PHONY : ConstraintSolver/btTypedConstraint.s
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+# target to build an object file
+ConstraintSolver/btUniversalConstraint.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btUniversalConstraint.o
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+# target to preprocess a source file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btUniversalConstraint.i
+.PHONY : ConstraintSolver/btUniversalConstraint.i
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+# target to generate assembly for a file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btUniversalConstraint.s
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+# target to build an object file
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+# target to preprocess a source file
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+# target to generate assembly for a file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Dynamics/btDiscreteDynamicsWorld.o
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+# target to preprocess a source file
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+# target to generate assembly for a file
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+# target to build an object file
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+# target to preprocess a source file
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+# target to generate assembly for a file
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletDynamics/CMakeFiles/BulletDynamics.dir/build.make src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Dynamics/btRigidBody.s
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+# target to build an object file
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+# target to generate assembly for a file
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+# target to build an object file
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+       @echo "... depend"
+       @echo "... BulletDynamics"
+       @echo "... edit_cache"
+       @echo "... install"
+       @echo "... install/local"
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+       @echo "... list_install_components"
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+       @echo "... Character/btKinematicCharacterController.i"
+       @echo "... Character/btKinematicCharacterController.s"
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+       @echo "... ConstraintSolver/btHingeConstraint.o"
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+       @echo "... ConstraintSolver/btHingeConstraint.s"
+       @echo "... ConstraintSolver/btPoint2PointConstraint.o"
+       @echo "... ConstraintSolver/btPoint2PointConstraint.i"
+       @echo "... ConstraintSolver/btPoint2PointConstraint.s"
+       @echo "... ConstraintSolver/btSequentialImpulseConstraintSolver.o"
+       @echo "... ConstraintSolver/btSequentialImpulseConstraintSolver.i"
+       @echo "... ConstraintSolver/btSequentialImpulseConstraintSolver.s"
+       @echo "... ConstraintSolver/btSliderConstraint.o"
+       @echo "... ConstraintSolver/btSliderConstraint.i"
+       @echo "... ConstraintSolver/btSliderConstraint.s"
+       @echo "... ConstraintSolver/btSolve2LinearConstraint.o"
+       @echo "... ConstraintSolver/btSolve2LinearConstraint.i"
+       @echo "... ConstraintSolver/btSolve2LinearConstraint.s"
+       @echo "... ConstraintSolver/btTypedConstraint.o"
+       @echo "... ConstraintSolver/btTypedConstraint.i"
+       @echo "... ConstraintSolver/btTypedConstraint.s"
+       @echo "... ConstraintSolver/btUniversalConstraint.o"
+       @echo "... ConstraintSolver/btUniversalConstraint.i"
+       @echo "... ConstraintSolver/btUniversalConstraint.s"
+       @echo "... Dynamics/Bullet-C-API.o"
+       @echo "... Dynamics/Bullet-C-API.i"
+       @echo "... Dynamics/Bullet-C-API.s"
+       @echo "... Dynamics/btDiscreteDynamicsWorld.o"
+       @echo "... Dynamics/btDiscreteDynamicsWorld.i"
+       @echo "... Dynamics/btDiscreteDynamicsWorld.s"
+       @echo "... Dynamics/btRigidBody.o"
+       @echo "... Dynamics/btRigidBody.i"
+       @echo "... Dynamics/btRigidBody.s"
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+       @echo "... Dynamics/btSimpleDynamicsWorld.i"
+       @echo "... Dynamics/btSimpleDynamicsWorld.s"
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+       @echo "... Vehicle/btRaycastVehicle.i"
+       @echo "... Vehicle/btRaycastVehicle.s"
+       @echo "... Vehicle/btWheelInfo.o"
+       @echo "... Vehicle/btWheelInfo.i"
+       @echo "... Vehicle/btWheelInfo.s"
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+
+
+
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+# because they might be regenerated.
+cmake_check_build_system:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
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+# Set the install prefix
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+# Set the install configuration name.
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+  ELSE(BUILD_TYPE)
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+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
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+# Set the component getting installed.
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+  IF(COMPONENT)
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+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE STATIC_LIBRARY FILES "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/BulletDynamics/libBulletDynamics.a")
+  IF(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libBulletDynamics.a" AND
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+FILE(INSTALL DESTINATION "/usr/local/include/bullet" TYPE DIRECTORY FILES "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/BulletDynamics" FILES_MATCHING REGEX "/[^/]*\\.h$" REGEX "/\\.svn$" EXCLUDE REGEX "/cmakefiles$" EXCLUDE)
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/BulletMultiThreaded && /usr/bin/c++  $(CXX_DEFINES) $(CXX_FLAGS) -E /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/BulletMultiThreaded/btGpu3DGridBroadphase.cpp > CMakeFiles/BulletMultiThreaded.dir/btGpu3DGridBroadphase.i
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/BulletMultiThreaded && /usr/bin/c++  $(CXX_DEFINES) $(CXX_FLAGS) -S /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/BulletMultiThreaded/btGpu3DGridBroadphase.cpp -o CMakeFiles/BulletMultiThreaded.dir/btGpu3DGridBroadphase.s
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+INCLUDE_DIRECTORIES(
+       ${BULLET_PHYSICS_SOURCE_DIR}/src
+       ${VECTOR_MATH_INCLUDE}
+)
+
+SET(BulletMultiThreaded_SRCS
+       SpuFakeDma.cpp
+       SpuLibspe2Support.cpp
+       btThreadSupportInterface.cpp
+       Win32ThreadSupport.cpp
+       PosixThreadSupport.cpp
+       SequentialThreadSupport.cpp
+       SpuSampleTaskProcess.cpp
+       SpuCollisionObjectWrapper.cpp 
+       SpuCollisionTaskProcess.cpp
+       SpuGatheringCollisionDispatcher.cpp
+       SpuContactManifoldCollisionAlgorithm.cpp
+       btParallelConstraintSolver.cpp
+       
+       #SPURS_PEGatherScatterTask/SpuPEGatherScatterTask.cpp
+       #SpuPEGatherScatterTaskProcess.cpp
+
+       SpuNarrowPhaseCollisionTask/boxBoxDistance.cpp
+       SpuNarrowPhaseCollisionTask/SpuContactResult.cpp
+       SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp
+       SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp
+       SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp
+
+       #Some GPU related stuff, mainly CUDA and perhaps OpenCL
+       btGpu3DGridBroadphase.cpp
+)
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+       PlatformDefinitions.h
+       PpuAddressSpace.h
+       SpuFakeDma.h
+       SpuDoubleBuffer.h
+       SpuLibspe2Support.h
+       btThreadSupportInterface.h
+       Win32ThreadSupport.h
+       PosixThreadSupport.h
+       SequentialThreadSupport.h
+       SpuSampleTaskProcess.h
+       SpuCollisionObjectWrapper.cpp 
+       SpuCollisionObjectWrapper.h 
+       SpuCollisionTaskProcess.h
+       SpuGatheringCollisionDispatcher.h
+       SpuContactManifoldCollisionAlgorithm.h
+       btParallelConstraintSolver.h
+
+       #SPURS_PEGatherScatterTask/SpuPEGatherScatterTask.h
+       #SpuPEGatherScatterTaskProcess.h
+
+       #Some GPU related stuff, mainly CUDA and perhaps OpenCL
+       btGpu3DGridBroadphase.h
+       btGpu3DGridBroadphaseSharedCode.h
+       btGpu3DGridBroadphaseSharedDefs.h
+       btGpu3DGridBroadphaseSharedTypes.h
+       btGpuDefines.h
+       btGpuUtilsSharedCode.h
+       btGpuUtilsSharedDefs.h
+)
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+SET(SpuNarrowPhaseCollisionTask_HDRS
+       SpuNarrowPhaseCollisionTask/Box.h
+       SpuNarrowPhaseCollisionTask/boxBoxDistance.h
+       SpuNarrowPhaseCollisionTask/SpuContactResult.h
+       SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h
+       SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h
+       SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h
+       SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h
+       SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h
+)
+
+SET(BulletMultiThreaded_HDRS
+       ${Root_HDRS}
+       ${SpuNarrowPhaseCollisionTask_HDRS}
+)
+
+ADD_LIBRARY(BulletMultiThreaded ${BulletMultiThreaded_SRCS} ${BulletMultiThreaded_HDRS})
+SET_TARGET_PROPERTIES(BulletMultiThreaded PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(BulletMultiThreaded PROPERTIES SOVERSION ${BULLET_VERSION})
+
+
+SUBDIRS(GpuSoftBodySolvers)
+
+
+IF (BUILD_SHARED_LIBS)
+       IF (UNIX)
+               TARGET_LINK_LIBRARIES(BulletMultiThreaded BulletDynamics BulletCollision pthread)
+       ELSE()
+               TARGET_LINK_LIBRARIES(BulletMultiThreaded BulletDynamics BulletCollision)
+       ENDIF()
+ENDIF (BUILD_SHARED_LIBS)
+
+
+IF (INSTALL_LIBS)
+       IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+               #INSTALL of other files requires CMake 2.6
+               IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+#                      IF(INSTALL_EXTRA_LIBS)
+                               IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+                                       INSTALL(TARGETS BulletMultiThreaded DESTINATION .)
+                               ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+                                       INSTALL(TARGETS BulletMultiThreaded DESTINATION lib${LIB_SUFFIX})
+                                       INSTALL(DIRECTORY
+${CMAKE_CURRENT_SOURCE_DIR} DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING
+PATTERN "*.h"  PATTERN ".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)
+                               ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+#                      ENDIF (INSTALL_EXTRA_LIBS)
+               ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+
+               IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+                       SET_TARGET_PROPERTIES(BulletMultiThreaded PROPERTIES FRAMEWORK true)
+               
+                       SET_TARGET_PROPERTIES(BulletMultiThreaded PROPERTIES PUBLIC_HEADER "${Root_HDRS}")
+                       # Have to list out sub-directories manually:
+                       SET_PROPERTY(SOURCE ${SpuNarrowPhaseCollisionTask_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/SpuNarrowPhaseCollisionTask)
+               
+               ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+       ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+ENDIF (INSTALL_LIBS)
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/CMakeFiles/CMakeDirectoryInformation.cmake b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/CMakeFiles/CMakeDirectoryInformation.cmake
new file mode 100644 (file)
index 0000000..5525f14
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/CMakeFiles/CMakeDirectoryInformation.cmake
@@ -0,0 +1,23 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+# Relative path conversion top directories.
+SET(CMAKE_RELATIVE_PATH_TOP_SOURCE "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx")
+SET(CMAKE_RELATIVE_PATH_TOP_BINARY "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx")
+
+# Force unix paths in dependencies.
+SET(CMAKE_FORCE_UNIX_PATHS 1)
+
+# The C and CXX include file search paths:
+SET(CMAKE_C_INCLUDE_PATH
+  "/usr/local/include"
+  "src"
+  )
+SET(CMAKE_CXX_INCLUDE_PATH ${CMAKE_C_INCLUDE_PATH})
+SET(CMAKE_Fortran_INCLUDE_PATH ${CMAKE_C_INCLUDE_PATH})
+
+# The C and CXX include file regular expressions for this directory.
+SET(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$")
+SET(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$")
+SET(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN})
+SET(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN})

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/CMakeFiles/progress.marks b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/CMakeFiles/progress.marks
new file mode 100644 (file)
index 0000000..573541a
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/CMakeFiles/progress.marks
@@ -0,0 +1 @@
+0

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/CMakeLists.txt b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/CMakeLists.txt
new file mode 100644 (file)
index 0000000..224a3e0
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/CMakeLists.txt
@@ -0,0 +1,13 @@
+
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/src
+)
+
+
+SUBDIRS ( 
+       OpenCL
+)
+
+IF( USE_DX11 )
+       SUBDIRS( DX11 )
+ENDIF( USE_DX11 )

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/CMakeLists.txt b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/CMakeLists.txt
new file mode 100644 (file)
index 0000000..e7492b5
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/CMakeLists.txt
@@ -0,0 +1,83 @@
+
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/src
+)
+
+SET(DXSDK_DIR $ENV{DXSDK_DIR})
+SET(DX11_INCLUDE_PATH  "${DIRECTX_SDK_BASE_DIR}/Include" CACHE DOCSTRING "Microsoft directX SDK include path")
+
+
+INCLUDE_DIRECTORIES(
+${DX11_INCLUDE_PATH} "../Shared/"
+${VECTOR_MATH_INCLUDE}
+)
+
+SET(BulletSoftBodyDX11Solvers_SRCS
+       btSoftBodySolver_DX11.cpp
+       btSoftBodySolver_DX11SIMDAware.cpp
+)
+
+SET(BulletSoftBodyDX11Solvers_HDRS
+       btSoftBodySolver_DX11.h
+       btSoftBodySolver_DX11SIMDAware.h
+       ../Shared/btSoftBodySolverData.h
+       btSoftBodySolverVertexData_DX11.h
+       btSoftBodySolverTriangleData_DX11.h
+       btSoftBodySolverLinkData_DX11.h
+       btSoftBodySolverLinkData_DX11SIMDAware.h
+       btSoftBodySolverBuffer_DX11.h
+       btSoftBodySolverVertexBuffer_DX11.h
+
+)
+
+# OpenCL and HLSL Shaders.
+# Build rules generated to stringify these into headers
+# which are needed by some of the sources
+SET(BulletSoftBodyDX11Solvers_Shaders
+       OutputToVertexArray
+       UpdateNormals
+       Integrate
+       UpdatePositions
+       UpdateNodes
+       ComputeBounds
+       SolvePositions
+       SolvePositionsSIMDBatched
+       SolveCollisionsAndUpdateVelocities
+       SolveCollisionsAndUpdateVelocitiesSIMDBatched
+       UpdatePositionsFromVelocities
+       ApplyForces
+       PrepareLinks
+       VSolveLinks
+)
+
+foreach(f ${BulletSoftBodyDX11Solvers_Shaders})
+    LIST(APPEND BulletSoftBodyDX11Solvers_HLSL "HLSL/${f}.hlsl")
+endforeach(f) 
+
+
+
+ADD_LIBRARY(BulletSoftBodySolvers_DX11  ${BulletSoftBodyDX11Solvers_SRCS} ${BulletSoftBodyDX11Solvers_HDRS} ${BulletSoftBodyDX11Solvers_HLSL})
+SET_TARGET_PROPERTIES(BulletSoftBodySolvers_DX11 PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(BulletSoftBodySolvers_DX11 PROPERTIES SOVERSION ${BULLET_VERSION})
+IF (BUILD_SHARED_LIBS)
+       TARGET_LINK_LIBRARIES(BulletSoftBodySolvers_DX11 BulletSoftBody BulletDynamics)
+ENDIF (BUILD_SHARED_LIBS)
+
+
+IF (INSTALL_LIBS)
+       IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+               IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+                       IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+                               INSTALL(TARGETS BulletSoftBodySolvers_DX11 DESTINATION .)
+                       ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+                       INSTALL(TARGETS BulletSoftBodySolvers_DX11 DESTINATION lib${LIB_SUFFIX})
+#headers are already installed by BulletMultiThreaded library
+                       ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+               ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+
+               IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+                       SET_TARGET_PROPERTIES(BulletSoftBodySolvers_DX11 PROPERTIES FRAMEWORK true)
+                       SET_TARGET_PROPERTIES(BulletSoftBodySolvers_DX11 PROPERTIES PUBLIC_HEADER "${BulletSoftBodyDX11Solvers_HDRS}")
+               ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+       ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+ENDIF (INSTALL_LIBS)

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/ApplyForces.hlsl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/ApplyForces.hlsl
new file mode 100644 (file)
index 0000000..37e2269
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/ApplyForces.hlsl
@@ -0,0 +1,95 @@
+MSTRINGIFY(
+
+cbuffer ApplyForcesCB : register( b0 )
+{
+       unsigned int numNodes;
+       float solverdt;
+       float epsilon;
+       int padding3;
+};
+
+
+StructuredBuffer<int> g_vertexClothIdentifier : register( t0 );
+StructuredBuffer<float4> g_vertexNormal : register( t1 );
+StructuredBuffer<float> g_vertexArea : register( t2 );
+StructuredBuffer<float> g_vertexInverseMass : register( t3 );
+// TODO: These could be combined into a lift/drag factor array along with medium density
+StructuredBuffer<float> g_clothLiftFactor : register( t4 );
+StructuredBuffer<float> g_clothDragFactor : register( t5 );
+StructuredBuffer<float4> g_clothWindVelocity : register( t6 );
+StructuredBuffer<float4> g_clothAcceleration : register( t7 );
+StructuredBuffer<float> g_clothMediumDensity : register( t8 );
+
+RWStructuredBuffer<float4> g_vertexForceAccumulator : register( u0 );
+RWStructuredBuffer<float4> g_vertexVelocity : register( u1 );
+
+float3 projectOnAxis( float3 v, float3 a )
+{
+       return (a*dot(v, a));
+}
+
+[numthreads(128, 1, 1)]
+void 
+ApplyForcesKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex )
+{
+       unsigned int nodeID = DTid.x;
+       if( nodeID < numNodes )
+       {               
+               int clothId = g_vertexClothIdentifier[nodeID];
+               float nodeIM = g_vertexInverseMass[nodeID];
+               
+               if( nodeIM > 0.0f )
+               {
+                       float3 nodeV = g_vertexVelocity[nodeID].xyz;
+                       float3 normal = g_vertexNormal[nodeID].xyz;
+                       float area = g_vertexArea[nodeID];
+                       float3 nodeF = g_vertexForceAccumulator[nodeID].xyz;
+                       
+                       // Read per-cloth values
+                       float3 clothAcceleration = g_clothAcceleration[clothId].xyz;
+                       float3 clothWindVelocity = g_clothWindVelocity[clothId].xyz;
+                       float liftFactor = g_clothLiftFactor[clothId];
+                       float dragFactor = g_clothDragFactor[clothId];
+                       float mediumDensity = g_clothMediumDensity[clothId];
+               
+                       // Apply the acceleration to the cloth rather than do this via a force
+                       nodeV += (clothAcceleration*solverdt);
+
+                       g_vertexVelocity[nodeID] = float4(nodeV, 0.f);
+
+                       float3 relativeWindVelocity = nodeV - clothWindVelocity;
+                       float relativeSpeedSquared = dot(relativeWindVelocity, relativeWindVelocity);
+                       
+                       if( relativeSpeedSquared > epsilon )
+                       {
+                               // Correct direction of normal relative to wind direction and get dot product
+                               normal = normal * (dot(normal, relativeWindVelocity) < 0 ? -1.f : 1.f);
+                               float dvNormal = dot(normal, relativeWindVelocity);
+                               if( dvNormal > 0 )
+                               {
+                                       float3 force = float3(0.f, 0.f, 0.f);
+                                       float c0 = area * dvNormal * relativeSpeedSquared / 2.f;
+                                       float c1 = c0 * mediumDensity;
+                                       force += normal * (-c1 * liftFactor);
+                                       force += normalize(relativeWindVelocity)*(-c1 * dragFactor);
+                                       
+                                       float dtim = solverdt * nodeIM;
+                                       float3 forceDTIM = force * dtim;
+                                       
+                                       float3 nodeFPlusForce = nodeF + force;
+                                       
+                                       // m_nodesf[i] -= ProjectOnAxis(m_nodesv[i], force.normalized())/dtim;  
+                                       float3 nodeFMinus = nodeF - (projectOnAxis(nodeV, normalize(force))/dtim);
+                                       
+                                       nodeF = nodeFPlusForce;
+                                       if( dot(forceDTIM, forceDTIM) > dot(nodeV, nodeV) )
+                                               nodeF = nodeFMinus;
+                                                                       
+                                       g_vertexForceAccumulator[nodeID] = float4(nodeF, 0.0f); 
+                               }
+                       }
+               }
+       }
+}
+
+);
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/ComputeBounds.hlsl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/ComputeBounds.hlsl
new file mode 100644 (file)
index 0000000..65ae515
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/ComputeBounds.hlsl
@@ -0,0 +1,83 @@
+MSTRINGIFY(
+
+cbuffer ComputeBoundsCB : register( b0 )
+{
+       int numNodes;
+       int numSoftBodies;
+       int padding1;
+       int padding2;
+};
+
+// Node indices for each link
+StructuredBuffer<int> g_vertexClothIdentifier : register( t0 );
+StructuredBuffer<float4> g_vertexPositions : register( t1 );
+
+RWStructuredBuffer<uint4> g_clothMinBounds : register( u0 );
+RWStructuredBuffer<uint4> g_clothMaxBounds : register( u1 );
+
+groupshared uint4 clothMinBounds[256];
+groupshared uint4 clothMaxBounds[256];
+
+[numthreads(128, 1, 1)]
+void 
+ComputeBoundsKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex )
+{
+       const unsigned int UINT_MAX = 0xffffffff;
+
+       // Init min and max bounds arrays
+       if( GTid.x < numSoftBodies )
+       {
+               clothMinBounds[GTid.x] = uint4(UINT_MAX, UINT_MAX, UINT_MAX, UINT_MAX);
+               clothMaxBounds[GTid.x] = uint4(0,0,0,0);
+       }
+
+       AllMemoryBarrierWithGroupSync();
+
+       int nodeID = DTid.x;
+       if( nodeID < numNodes )
+       {       
+               int clothIdentifier = g_vertexClothIdentifier[nodeID];
+               if( clothIdentifier >= 0 )
+               {
+                       float3 position = g_vertexPositions[nodeID].xyz;
+
+                       // Reinterpret position as uint
+                       uint3 positionUInt = uint3(asuint(position.x), asuint(position.y), asuint(position.z));
+               
+                       // Invert sign bit of positives and whole of negatives to allow comparison as unsigned ints
+                       //positionUInt.x ^= uint((-int(positionUInt.x >> 31) | 0x80000000));
+                       //positionUInt.y ^= uint((-int(positionUInt.y >> 31) | 0x80000000));
+                       //positionUInt.z ^= uint((-int(positionUInt.z >> 31) | 0x80000000));
+                       positionUInt.x ^= (1+~(positionUInt.x >> 31) | 0x80000000);
+                       positionUInt.y ^= (1+~(positionUInt.y >> 31) | 0x80000000);             
+                       positionUInt.z ^= (1+~(positionUInt.z >> 31) | 0x80000000);
+               
+                       // Min/max with the LDS values
+                       InterlockedMin(clothMinBounds[clothIdentifier].x, positionUInt.x);
+                       InterlockedMin(clothMinBounds[clothIdentifier].y, positionUInt.y);
+                       InterlockedMin(clothMinBounds[clothIdentifier].z, positionUInt.z);
+
+                       InterlockedMax(clothMaxBounds[clothIdentifier].x, positionUInt.x);
+                       InterlockedMax(clothMaxBounds[clothIdentifier].y, positionUInt.y);
+                       InterlockedMax(clothMaxBounds[clothIdentifier].z, positionUInt.z);
+               }
+       }
+       
+       AllMemoryBarrierWithGroupSync();
+
+
+       // Use global atomics to update the global versions of the data
+       if( GTid.x < numSoftBodies )
+       {
+               InterlockedMin(g_clothMinBounds[GTid.x].x, clothMinBounds[GTid.x].x);
+               InterlockedMin(g_clothMinBounds[GTid.x].y, clothMinBounds[GTid.x].y);
+               InterlockedMin(g_clothMinBounds[GTid.x].z, clothMinBounds[GTid.x].z);
+
+               InterlockedMax(g_clothMaxBounds[GTid.x].x, clothMaxBounds[GTid.x].x);           
+               InterlockedMax(g_clothMaxBounds[GTid.x].y, clothMaxBounds[GTid.x].y);
+               InterlockedMax(g_clothMaxBounds[GTid.x].z, clothMaxBounds[GTid.x].z);
+       }
+}
+
+
+);
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/Integrate.hlsl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/Integrate.hlsl
new file mode 100644 (file)
index 0000000..f85fd11
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/Integrate.hlsl
@@ -0,0 +1,41 @@
+MSTRINGIFY(
+
+cbuffer IntegrateCB : register( b0 )
+{
+       int numNodes;
+       float solverdt;
+       int padding1;
+       int padding2;
+};
+
+// Node indices for each link
+StructuredBuffer<float> g_vertexInverseMasses : register( t0 );
+
+RWStructuredBuffer<float4> g_vertexPositions : register( u0 );
+RWStructuredBuffer<float4> g_vertexVelocity : register( u1 );
+RWStructuredBuffer<float4> g_vertexPreviousPositions : register( u2 );
+RWStructuredBuffer<float4> g_vertexForceAccumulator : register( u3 );
+
+[numthreads(128, 1, 1)]
+void 
+IntegrateKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex )
+{
+       int nodeID = DTid.x;
+       if( nodeID < numNodes )
+       {       
+               float3 position = g_vertexPositions[nodeID].xyz;
+               float3 velocity = g_vertexVelocity[nodeID].xyz;
+               float3 force = g_vertexForceAccumulator[nodeID].xyz;
+               float inverseMass = g_vertexInverseMasses[nodeID];
+               
+               g_vertexPreviousPositions[nodeID] = float4(position, 0.f);
+               velocity += force * inverseMass * solverdt;
+               position += velocity * solverdt;
+               
+               g_vertexForceAccumulator[nodeID] = float4(0.f, 0.f, 0.f, 0.0f);
+               g_vertexPositions[nodeID] = float4(position, 0.f);
+               g_vertexVelocity[nodeID] = float4(velocity, 0.f);       
+       }
+}
+
+);
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/OutputToVertexArray.hlsl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/OutputToVertexArray.hlsl
new file mode 100644 (file)
index 0000000..a6fa7b9
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/OutputToVertexArray.hlsl
@@ -0,0 +1,63 @@
+MSTRINGIFY(
+
+cbuffer OutputToVertexArrayCB : register( b0 )
+{
+       int startNode;
+       int numNodes;
+       int positionOffset;
+       int positionStride;
+       
+       int normalOffset;       
+       int normalStride;
+       int padding1;
+       int padding2;
+};
+
+
+StructuredBuffer<float4> g_vertexPositions : register( t0 );
+StructuredBuffer<float4> g_vertexNormals : register( t1 );
+
+RWBuffer<float> g_vertexBuffer : register( u0 );
+
+
+[numthreads(128, 1, 1)]
+void 
+OutputToVertexArrayWithNormalsKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex )
+{
+       int nodeID = DTid.x;
+       if( nodeID < numNodes )
+       {                       
+               float4 position = g_vertexPositions[nodeID + startNode];
+               float4 normal = g_vertexNormals[nodeID + startNode];
+               
+               // Stride should account for the float->float4 conversion
+               int positionDestination = nodeID * positionStride + positionOffset;             
+               g_vertexBuffer[positionDestination] = position.x;
+               g_vertexBuffer[positionDestination+1] = position.y;
+               g_vertexBuffer[positionDestination+2] = position.z;
+               
+               int normalDestination = nodeID * normalStride + normalOffset;
+               g_vertexBuffer[normalDestination] = normal.x;
+               g_vertexBuffer[normalDestination+1] = normal.y;
+               g_vertexBuffer[normalDestination+2] = normal.z;         
+       }
+}
+
+[numthreads(128, 1, 1)]
+void 
+OutputToVertexArrayWithoutNormalsKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex )
+{
+       int nodeID = DTid.x;
+       if( nodeID < numNodes )
+       {                       
+               float4 position = g_vertexPositions[nodeID + startNode];
+               float4 normal = g_vertexNormals[nodeID + startNode];
+               
+               // Stride should account for the float->float4 conversion
+               int positionDestination = nodeID * positionStride + positionOffset;             
+               g_vertexBuffer[positionDestination] = position.x;
+               g_vertexBuffer[positionDestination+1] = position.y;
+               g_vertexBuffer[positionDestination+2] = position.z;             
+       }
+}
+);
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/PrepareLinks.hlsl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/PrepareLinks.hlsl
new file mode 100644 (file)
index 0000000..75db8d1
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/PrepareLinks.hlsl
@@ -0,0 +1,44 @@
+MSTRINGIFY(
+
+cbuffer PrepareLinksCB : register( b0 )
+{
+       int numLinks;
+       int padding0;
+       int padding1;
+       int padding2;
+};
+
+// Node indices for each link
+StructuredBuffer<int2> g_linksVertexIndices : register( t0 );
+StructuredBuffer<float> g_linksMassLSC : register( t1 );
+StructuredBuffer<float4> g_nodesPreviousPosition : register( t2 );
+
+RWStructuredBuffer<float> g_linksLengthRatio : register( u0 );
+RWStructuredBuffer<float4> g_linksCurrentLength : register( u1 );
+
+[numthreads(128, 1, 1)]
+void 
+PrepareLinksKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex )
+{
+       int linkID = DTid.x;
+       if( linkID < numLinks )
+       {       
+               int2 nodeIndices = g_linksVertexIndices[linkID];
+               int node0 = nodeIndices.x;
+               int node1 = nodeIndices.y;
+               
+               float4 nodePreviousPosition0 = g_nodesPreviousPosition[node0];
+               float4 nodePreviousPosition1 = g_nodesPreviousPosition[node1];
+
+               float massLSC = g_linksMassLSC[linkID];
+               
+               float4 linkCurrentLength = nodePreviousPosition1 - nodePreviousPosition0;
+               
+               float linkLengthRatio = dot(linkCurrentLength, linkCurrentLength)*massLSC;
+               linkLengthRatio = 1./linkLengthRatio;
+               
+               g_linksCurrentLength[linkID] = linkCurrentLength;
+               g_linksLengthRatio[linkID] = linkLengthRatio;           
+       }
+}
+);
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/SolvePositions.hlsl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/SolvePositions.hlsl
new file mode 100644 (file)
index 0000000..de979d7
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/SolvePositions.hlsl
@@ -0,0 +1,55 @@
+MSTRINGIFY(
+
+cbuffer SolvePositionsFromLinksKernelCB : register( b0 )
+{
+       int startLink;
+       int numLinks;
+       float kst;
+       float ti;
+};
+
+// Node indices for each link
+StructuredBuffer<int2> g_linksVertexIndices : register( t0 );
+
+StructuredBuffer<float> g_linksMassLSC : register( t1 );
+StructuredBuffer<float> g_linksRestLengthSquared : register( t2 );
+StructuredBuffer<float> g_verticesInverseMass : register( t3 );
+
+RWStructuredBuffer<float4> g_vertexPositions : register( u0 );
+
+[numthreads(128, 1, 1)]
+void 
+SolvePositionsFromLinksKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex )
+{
+       int linkID = DTid.x + startLink;
+       if( DTid.x < numLinks )
+       {       
+               float massLSC = g_linksMassLSC[linkID];
+               float restLengthSquared = g_linksRestLengthSquared[linkID];
+               
+               if( massLSC > 0.0f )
+               {               
+                       int2 nodeIndices = g_linksVertexIndices[linkID];
+                       int node0 = nodeIndices.x;
+                       int node1 = nodeIndices.y;
+                       
+                       float3 position0 = g_vertexPositions[node0].xyz;
+                       float3 position1 = g_vertexPositions[node1].xyz;
+
+                       float inverseMass0 = g_verticesInverseMass[node0];
+                       float inverseMass1 = g_verticesInverseMass[node1]; 
+
+                       float3 del = position1 - position0;
+                       float len = dot(del, del);
+                       float k = ((restLengthSquared - len)/(massLSC*(restLengthSquared+len)))*kst;
+                       position0 = position0 - del*(k*inverseMass0);
+                       position1 = position1 + del*(k*inverseMass1);
+
+                       g_vertexPositions[node0] = float4(position0, 0.f);
+                       g_vertexPositions[node1] = float4(position1, 0.f);
+
+               }
+       }
+}
+
+);
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/SolvePositionsSIMDBatched.hlsl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/SolvePositionsSIMDBatched.hlsl
new file mode 100644 (file)
index 0000000..3cbb352
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/SolvePositionsSIMDBatched.hlsl
@@ -0,0 +1,147 @@
+MSTRINGIFY(
+
+
+
+cbuffer SolvePositionsFromLinksKernelCB : register( b0 )
+{
+       int startWaveInBatch;
+       int numWaves;
+       float kst;              
+       float ti;
+};
+
+
+// Number of batches per wavefront stored one element per logical wavefront
+StructuredBuffer<int2> g_wavefrontBatchCountsVertexCounts : register( t0 );
+// Set of up to maxNumVertices vertex addresses per wavefront
+StructuredBuffer<int> g_vertexAddressesPerWavefront : register( t1 );
+
+StructuredBuffer<float> g_verticesInverseMass : register( t2 );
+
+// Per-link data layed out structured in terms of sub batches within wavefronts
+StructuredBuffer<int2> g_linksVertexIndices : register( t3 );
+StructuredBuffer<float> g_linksMassLSC : register( t4 );
+StructuredBuffer<float> g_linksRestLengthSquared : register( t5 );
+
+RWStructuredBuffer<float4> g_vertexPositions : register( u0 );
+
+// Data loaded on a per-wave basis
+groupshared int2 wavefrontBatchCountsVertexCounts[WAVEFRONT_BLOCK_MULTIPLIER];
+groupshared float4 vertexPositionSharedData[MAX_NUM_VERTICES_PER_WAVE*WAVEFRONT_BLOCK_MULTIPLIER];
+groupshared float vertexInverseMassSharedData[MAX_NUM_VERTICES_PER_WAVE*WAVEFRONT_BLOCK_MULTIPLIER];
+
+// Storing the vertex addresses actually slowed things down a little
+//groupshared int vertexAddressSharedData[MAX_NUM_VERTICES_PER_WAVE*WAVEFRONT_BLOCK_MULTIPLIER];
+
+
+[numthreads(BLOCK_SIZE, 1, 1)]
+void 
+SolvePositionsFromLinksKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex )
+{
+       const int laneInWavefront = (DTid.x & (WAVEFRONT_SIZE-1));
+       const int wavefront = startWaveInBatch + (DTid.x / WAVEFRONT_SIZE);
+       const int firstWavefrontInBlock = startWaveInBatch + Gid.x * WAVEFRONT_BLOCK_MULTIPLIER;
+       const int localWavefront = wavefront - firstWavefrontInBlock;
+
+       int batchesWithinWavefront = 0;
+       int verticesUsedByWave = 0;
+       int cond = wavefront < (startWaveInBatch + numWaves);
+
+       // Mask out in case there's a stray "wavefront" at the end that's been forced in through the multiplier 
+       if( cond)
+       {
+
+               // Load the batch counts for the wavefronts
+
+               int2 batchesAndVerticesWithinWavefront = g_wavefrontBatchCountsVertexCounts[wavefront];
+
+               batchesWithinWavefront = batchesAndVerticesWithinWavefront.x;
+               verticesUsedByWave = batchesAndVerticesWithinWavefront.y;
+
+               // Load the vertices for the wavefronts
+               for( int vertex = laneInWavefront; vertex < verticesUsedByWave; vertex+=WAVEFRONT_SIZE )
+               {
+                       int vertexAddress = g_vertexAddressesPerWavefront[wavefront*MAX_NUM_VERTICES_PER_WAVE + vertex];
+
+                       //vertexAddressSharedData[localWavefront*MAX_NUM_VERTICES_PER_WAVE + vertex] = vertexAddress;
+                       vertexPositionSharedData[localWavefront*MAX_NUM_VERTICES_PER_WAVE + vertex] = g_vertexPositions[vertexAddress];
+                       vertexInverseMassSharedData[localWavefront*MAX_NUM_VERTICES_PER_WAVE + vertex] = g_verticesInverseMass[vertexAddress];
+               }
+               
+       }
+               // Ensure compiler does not re-order memory operations
+               //AllMemoryBarrier();
+       AllMemoryBarrierWithGroupSync ();
+               
+       if( cond)
+       {
+               // Loop through the batches performing the solve on each in LDS
+               int baseDataLocationForWave = WAVEFRONT_SIZE * wavefront * MAX_BATCHES_PER_WAVE;        
+
+               //for( int batch = 0; batch < batchesWithinWavefront; ++batch )
+               
+               int batch = 0;
+               do
+               {
+                       int baseDataLocation = baseDataLocationForWave + WAVEFRONT_SIZE * batch;
+                       int locationOfValue = baseDataLocation + laneInWavefront;
+                       
+                       
+                       // These loads should all be perfectly linear across the WF
+                       int2 localVertexIndices = g_linksVertexIndices[locationOfValue];
+                       float massLSC = g_linksMassLSC[locationOfValue];
+                       float restLengthSquared = g_linksRestLengthSquared[locationOfValue];
+                       
+
+                       // LDS vertex addresses based on logical wavefront number in block and loaded index
+                       int vertexAddress0 = MAX_NUM_VERTICES_PER_WAVE * localWavefront + localVertexIndices.x;
+                       int vertexAddress1 = MAX_NUM_VERTICES_PER_WAVE * localWavefront + localVertexIndices.y;
+                       
+                       float3 position0 = vertexPositionSharedData[vertexAddress0].xyz;
+                       float3 position1 = vertexPositionSharedData[vertexAddress1].xyz;
+
+                       float inverseMass0 = vertexInverseMassSharedData[vertexAddress0];
+                       float inverseMass1 = vertexInverseMassSharedData[vertexAddress1]; 
+
+                       float3 del = position1 - position0;
+                       float len = dot(del, del);
+                       
+                       float k = 0;
+                       if( massLSC > 0.0f )
+                       {               
+                               k = ((restLengthSquared - len)/(massLSC*(restLengthSquared+len)))*kst;
+                       }
+                       
+                       position0 = position0 - del*(k*inverseMass0);
+                       position1 = position1 + del*(k*inverseMass1);
+                       
+                       // Ensure compiler does not re-order memory operations
+                       AllMemoryBarrier();                             
+
+                       vertexPositionSharedData[vertexAddress0] = float4(position0, 0.f);
+                       vertexPositionSharedData[vertexAddress1] = float4(position1, 0.f);
+                       
+                       // Ensure compiler does not re-order memory operations
+                       AllMemoryBarrier();
+                               
+                       
+                       ++batch;
+               } while( batch < batchesWithinWavefront );
+               
+               // Update the global memory vertices for the wavefronts
+               for( int vertex = laneInWavefront; vertex < verticesUsedByWave; vertex+=WAVEFRONT_SIZE )
+               {
+                       int vertexAddress = g_vertexAddressesPerWavefront[wavefront*MAX_NUM_VERTICES_PER_WAVE + vertex];
+
+                       g_vertexPositions[vertexAddress] = vertexPositionSharedData[localWavefront*MAX_NUM_VERTICES_PER_WAVE + vertex];
+               }
+       }
+               
+               
+}
+
+
+
+
+);
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdateConstants.hlsl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdateConstants.hlsl
new file mode 100644 (file)
index 0000000..fafd236
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdateConstants.hlsl
@@ -0,0 +1,48 @@
+MSTRINGIFY(
+
+cbuffer UpdateConstantsCB : register( b0 )
+{
+       int numLinks;
+       int padding0;
+       int padding1;
+       int padding2;
+};
+
+// Node indices for each link
+StructuredBuffer<int2> g_linksVertexIndices : register( t0 );
+StructuredBuffer<float4> g_vertexPositions : register( t1 );
+StructuredBuffer<float> g_vertexInverseMasses : register( t2 );
+StructuredBuffer<float> g_linksMaterialLSC : register( t3 );
+
+RWStructuredBuffer<float> g_linksMassLSC : register( u0 );
+RWStructuredBuffer<float> g_linksRestLengthSquared : register( u1 );
+RWStructuredBuffer<float> g_linksRestLengths : register( u2 );
+
+[numthreads(128, 1, 1)]
+void 
+UpdateConstantsKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex )
+{
+       int linkID = DTid.x;
+       if( linkID < numLinks )
+       {       
+               int2 nodeIndices = g_linksVertexIndices[linkID];
+               int node0 = nodeIndices.x;
+               int node1 = nodeIndices.y;
+               float linearStiffnessCoefficient = g_linksMaterialLSC[ linkID ];
+               
+               float3 position0 = g_vertexPositions[node0].xyz;
+               float3 position1 = g_vertexPositions[node1].xyz;
+               float inverseMass0 = g_vertexInverseMasses[node0];
+               float inverseMass1 = g_vertexInverseMasses[node1];
+
+               float3 difference = position0 - position1;
+               float length2 = dot(difference, difference);
+               float length = sqrt(length2);
+       
+               g_linksRestLengths[linkID] = length;
+               g_linksMassLSC[linkID] = (inverseMass0 + inverseMass1)/linearStiffnessCoefficient;
+               g_linksRestLengthSquared[linkID] = length*length;               
+       }
+}
+
+);
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdateNodes.hlsl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdateNodes.hlsl
new file mode 100644 (file)
index 0000000..a16d894
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdateNodes.hlsl
@@ -0,0 +1,49 @@
+MSTRINGIFY(
+
+cbuffer UpdateVelocitiesFromPositionsWithVelocitiesCB : register( b0 )
+{
+       int numNodes;
+       float isolverdt;
+       int padding1;
+       int padding2;
+};
+
+
+StructuredBuffer<float4> g_vertexPositions : register( t0 );
+StructuredBuffer<float4> g_vertexPreviousPositions : register( t1 );
+StructuredBuffer<int> g_vertexClothIndices : register( t2 );
+StructuredBuffer<float> g_clothVelocityCorrectionCoefficients : register( t3 );
+StructuredBuffer<float> g_clothDampingFactor : register( t4 );
+
+RWStructuredBuffer<float4> g_vertexVelocities : register( u0 );
+RWStructuredBuffer<float4> g_vertexForces : register( u1 );
+
+
+[numthreads(128, 1, 1)]
+void 
+updateVelocitiesFromPositionsWithVelocitiesKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex )
+{
+       int nodeID = DTid.x;
+       if( nodeID < numNodes )
+       {       
+               float3 position = g_vertexPositions[nodeID].xyz;
+               float3 previousPosition = g_vertexPreviousPositions[nodeID].xyz;
+               float3 velocity = g_vertexVelocities[nodeID].xyz;
+               int clothIndex = g_vertexClothIndices[nodeID];
+               float velocityCorrectionCoefficient = g_clothVelocityCorrectionCoefficients[clothIndex];
+               float dampingFactor = g_clothDampingFactor[clothIndex];
+               float velocityCoefficient = (1.f - dampingFactor);
+               
+               float3 difference = position - previousPosition;
+                               
+               velocity += difference*velocityCorrectionCoefficient*isolverdt;
+               
+               // Damp the velocity
+               velocity *= velocityCoefficient;
+               
+               g_vertexVelocities[nodeID] = float4(velocity, 0.f);
+               g_vertexForces[nodeID] = float4(0.f, 0.f, 0.f, 0.f);                                                            
+       }
+}
+
+);
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdateNormals.hlsl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdateNormals.hlsl
new file mode 100644 (file)
index 0000000..54ab3ed
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdateNormals.hlsl
@@ -0,0 +1,98 @@
+MSTRINGIFY(
+
+cbuffer UpdateSoftBodiesCB : register( b0 )
+{
+       unsigned int numNodes;
+       unsigned int startFace;
+       unsigned int numFaces;
+       float epsilon;
+};
+
+
+// Node indices for each link
+StructuredBuffer<int4> g_triangleVertexIndexSet : register( t0 );
+StructuredBuffer<float4> g_vertexPositions : register( t1 );
+StructuredBuffer<int> g_vertexTriangleCount : register( t2 );
+
+RWStructuredBuffer<float4> g_vertexNormals : register( u0 );
+RWStructuredBuffer<float> g_vertexArea : register( u1 );
+RWStructuredBuffer<float4> g_triangleNormals : register( u2 );
+RWStructuredBuffer<float> g_triangleArea : register( u3 );
+
+
+[numthreads(128, 1, 1)]
+void 
+ResetNormalsAndAreasKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex )
+{
+       if( DTid.x < numNodes )
+       {
+               g_vertexNormals[DTid.x] = float4(0.0f, 0.0f, 0.0f, 0.0f);
+               g_vertexArea[DTid.x] = 0.0f;
+       }
+}
+
+
+[numthreads(128, 1, 1)]
+void 
+UpdateSoftBodiesKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex )
+{
+       int faceID = DTid.x + startFace;
+       if( DTid.x < numFaces )
+       {               
+               int4 triangleIndexSet = g_triangleVertexIndexSet[ faceID ];
+               int nodeIndex0 = triangleIndexSet.x;
+               int nodeIndex1 = triangleIndexSet.y;
+               int nodeIndex2 = triangleIndexSet.z;
+
+               float3 node0 = g_vertexPositions[nodeIndex0].xyz;
+               float3 node1 = g_vertexPositions[nodeIndex1].xyz;
+               float3 node2 = g_vertexPositions[nodeIndex2].xyz;
+               float3 nodeNormal0 = g_vertexNormals[nodeIndex0].xyz;
+               float3 nodeNormal1 = g_vertexNormals[nodeIndex1].xyz;
+               float3 nodeNormal2 = g_vertexNormals[nodeIndex2].xyz;
+               float vertexArea0 = g_vertexArea[nodeIndex0];
+               float vertexArea1 = g_vertexArea[nodeIndex1];
+               float vertexArea2 = g_vertexArea[nodeIndex2];
+               
+               float3 vector0 = node1 - node0;
+               float3 vector1 = node2 - node0;
+               
+               float3 faceNormal = cross(vector0.xyz, vector1.xyz);
+               float triangleArea = length(faceNormal);
+
+               nodeNormal0 = nodeNormal0 + faceNormal;
+               nodeNormal1 = nodeNormal1 + faceNormal;
+               nodeNormal2 = nodeNormal2 + faceNormal;
+               vertexArea0 = vertexArea0 + triangleArea;
+               vertexArea1 = vertexArea1 + triangleArea;
+               vertexArea2 = vertexArea2 + triangleArea;
+               
+               g_triangleNormals[faceID] = float4(normalize(faceNormal), 0.f);
+               g_vertexNormals[nodeIndex0] = float4(nodeNormal0, 0.f);
+               g_vertexNormals[nodeIndex1] = float4(nodeNormal1, 0.f);
+               g_vertexNormals[nodeIndex2] = float4(nodeNormal2, 0.f);
+               g_triangleArea[faceID] = triangleArea;
+               g_vertexArea[nodeIndex0] = vertexArea0;
+               g_vertexArea[nodeIndex1] = vertexArea1;
+               g_vertexArea[nodeIndex2] = vertexArea2;
+       }
+}
+
+[numthreads(128, 1, 1)]
+void 
+NormalizeNormalsAndAreasKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex )
+{
+       if( DTid.x < numNodes )
+       {
+               float4 normal = g_vertexNormals[DTid.x];
+               float area = g_vertexArea[DTid.x];
+               int numTriangles = g_vertexTriangleCount[DTid.x];
+               
+               float vectorLength = length(normal);
+               
+               g_vertexNormals[DTid.x] = normalize(normal);
+               g_vertexArea[DTid.x] = area/float(numTriangles);
+       }
+}
+
+);
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdatePositions.hlsl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdatePositions.hlsl
new file mode 100644 (file)
index 0000000..9685fa8
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdatePositions.hlsl
@@ -0,0 +1,44 @@
+MSTRINGIFY(
+
+cbuffer UpdateVelocitiesFromPositionsWithoutVelocitiesCB : register( b0 )
+{
+       int numNodes;
+       float isolverdt;
+       int padding1;
+       int padding2;
+};
+
+
+StructuredBuffer<float4> g_vertexPositions : register( t0 );
+StructuredBuffer<float4> g_vertexPreviousPositions : register( t1 );
+StructuredBuffer<int> g_vertexClothIndices : register( t2 );
+StructuredBuffer<float> g_clothDampingFactor : register( t3 );
+
+RWStructuredBuffer<float4> g_vertexVelocities : register( u0 );
+RWStructuredBuffer<float4> g_vertexForces : register( u1 );
+
+
+[numthreads(128, 1, 1)]
+void 
+updateVelocitiesFromPositionsWithoutVelocitiesKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex )
+{
+       int nodeID = DTid.x;
+       if( nodeID < numNodes )
+       {       
+               float3 position = g_vertexPositions[nodeID].xyz;
+               float3 previousPosition = g_vertexPreviousPositions[nodeID].xyz;
+               float3 velocity = g_vertexVelocities[nodeID].xyz;
+               int clothIndex = g_vertexClothIndices[nodeID];
+               float dampingFactor = g_clothDampingFactor[clothIndex];
+               float velocityCoefficient = (1.f - dampingFactor);
+               
+               float3 difference = position - previousPosition;
+                               
+               velocity = difference*velocityCoefficient*isolverdt;            
+               
+               g_vertexVelocities[nodeID] = float4(velocity, 0.f);
+               g_vertexForces[nodeID] = float4(0.f, 0.f, 0.f, 0.f);                                                            
+       }
+}
+
+);
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdatePositionsFromVelocities.hlsl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdatePositionsFromVelocities.hlsl
new file mode 100644 (file)
index 0000000..e816b1e
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdatePositionsFromVelocities.hlsl
@@ -0,0 +1,35 @@
+MSTRINGIFY(
+
+cbuffer UpdatePositionsFromVelocitiesCB : register( b0 )
+{
+       int numNodes;
+       float solverSDT;
+       int padding1;
+       int padding2;
+};
+
+
+StructuredBuffer<float4> g_vertexVelocities : register( t0 );
+
+RWStructuredBuffer<float4> g_vertexPreviousPositions : register( u0 );
+RWStructuredBuffer<float4> g_vertexCurrentPosition : register( u1 );
+
+
+[numthreads(128, 1, 1)]
+void 
+UpdatePositionsFromVelocitiesKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex )
+{
+       int vertexID = DTid.x;
+       if( vertexID < numNodes )
+       {       
+               float3 previousPosition = g_vertexPreviousPositions[vertexID].xyz;
+               float3 velocity = g_vertexVelocities[vertexID].xyz;
+               
+               float3 newPosition = previousPosition + velocity*solverSDT;
+               
+               g_vertexCurrentPosition[vertexID] = float4(newPosition, 0.f);
+               g_vertexPreviousPositions[vertexID] = float4(newPosition, 0.f);
+       }
+}
+
+);
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/VSolveLinks.hlsl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/VSolveLinks.hlsl
new file mode 100644 (file)
index 0000000..14afca6
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/VSolveLinks.hlsl
@@ -0,0 +1,55 @@
+MSTRINGIFY(
+
+cbuffer VSolveLinksCB : register( b0 )
+{
+       int startLink;
+       int numLinks;
+       float kst;
+       int padding;
+};
+
+// Node indices for each link
+StructuredBuffer<int2> g_linksVertexIndices : register( t0 );
+
+StructuredBuffer<float> g_linksLengthRatio : register( t1 );
+StructuredBuffer<float4> g_linksCurrentLength : register( t2 );
+StructuredBuffer<float> g_vertexInverseMass : register( t3 );
+
+RWStructuredBuffer<float4> g_vertexVelocity : register( u0 );
+
+[numthreads(128, 1, 1)]
+void 
+VSolveLinksKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex )
+{
+       int linkID = DTid.x + startLink;
+       if( DTid.x < numLinks )
+       {               
+               int2 nodeIndices = g_linksVertexIndices[linkID];
+               int node0 = nodeIndices.x;
+               int node1 = nodeIndices.y;
+               
+               float linkLengthRatio = g_linksLengthRatio[linkID];
+               float3 linkCurrentLength = g_linksCurrentLength[linkID].xyz;
+               
+               float3 vertexVelocity0 = g_vertexVelocity[node0].xyz;
+               float3 vertexVelocity1 = g_vertexVelocity[node1].xyz;
+
+               float vertexInverseMass0 = g_vertexInverseMass[node0];
+               float vertexInverseMass1 = g_vertexInverseMass[node1]; 
+
+               float3 nodeDifference = vertexVelocity0 - vertexVelocity1;
+               float dotResult = dot(linkCurrentLength, nodeDifference);
+               float j = -dotResult*linkLengthRatio*kst;
+               
+               float3 velocityChange0 = linkCurrentLength*(j*vertexInverseMass0);
+               float3 velocityChange1 = linkCurrentLength*(j*vertexInverseMass1);
+               
+               vertexVelocity0 += velocityChange0;
+               vertexVelocity1 -= velocityChange1;
+
+               g_vertexVelocity[node0] = float4(vertexVelocity0, 0.f);
+               g_vertexVelocity[node1] = float4(vertexVelocity1, 0.f);
+       }
+}
+
+);
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/solveCollisionsAndUpdateVelocities.hlsl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/solveCollisionsAndUpdateVelocities.hlsl
new file mode 100644 (file)
index 0000000..9d46a59
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/solveCollisionsAndUpdateVelocities.hlsl
@@ -0,0 +1,170 @@
+MSTRINGIFY(
+
+cbuffer SolvePositionsFromLinksKernelCB : register( b0 )
+{
+       unsigned int numNodes;
+       float isolverdt;
+       int padding0;
+       int padding1;
+};
+
+struct CollisionObjectIndices
+{
+       int firstObject;
+       int endObject;
+};
+
+struct CollisionShapeDescription
+{
+       float4x4 shapeTransform;
+       float4 linearVelocity;
+       float4 angularVelocity;
+
+       int softBodyIdentifier;
+       int collisionShapeType;
+       
+
+       // Shape information
+       // Compressed from the union
+       float radius;
+       float halfHeight;
+               
+       float margin;
+       float friction;
+
+       int padding0;
+       int padding1;
+       
+};
+
+// From btBroadphaseProxy.h
+static const int CAPSULE_SHAPE_PROXYTYPE = 10;
+
+// Node indices for each link
+StructuredBuffer<int> g_vertexClothIdentifier : register( t0 );
+StructuredBuffer<float4> g_vertexPreviousPositions : register( t1 );
+StructuredBuffer<float> g_perClothFriction : register( t2 );
+StructuredBuffer<float> g_clothDampingFactor : register( t3 );
+StructuredBuffer<CollisionObjectIndices> g_perClothCollisionObjectIndices : register( t4 );
+StructuredBuffer<CollisionShapeDescription> g_collisionObjectDetails : register( t5 );
+
+RWStructuredBuffer<float4> g_vertexForces : register( u0 );
+RWStructuredBuffer<float4> g_vertexVelocities : register( u1 );
+RWStructuredBuffer<float4> g_vertexPositions : register( u2 );
+
+[numthreads(128, 1, 1)]
+void 
+SolveCollisionsAndUpdateVelocitiesKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex )
+{
+       int nodeID = DTid.x;
+       float3 forceOnVertex = float3(0.f, 0.f, 0.f);
+       if( DTid.x < numNodes )
+       {       
+               int clothIdentifier = g_vertexClothIdentifier[nodeID];
+               float4 position = float4(g_vertexPositions[nodeID].xyz, 1.f);
+               float4 previousPosition = float4(g_vertexPreviousPositions[nodeID].xyz, 1.f);
+               float3 velocity;
+               float clothFriction = g_perClothFriction[clothIdentifier];
+               float dampingFactor = g_clothDampingFactor[clothIdentifier];
+               float velocityCoefficient = (1.f - dampingFactor);              
+               CollisionObjectIndices collisionObjectIndices = g_perClothCollisionObjectIndices[clothIdentifier];
+       
+               if( collisionObjectIndices.firstObject != collisionObjectIndices.endObject )
+               {
+                       velocity = float3(15, 0, 0);
+
+                       // We have some possible collisions to deal with
+                       for( int collision = collisionObjectIndices.firstObject; collision < collisionObjectIndices.endObject; ++collision )
+                       {
+                               CollisionShapeDescription shapeDescription = g_collisionObjectDetails[collision];
+                               float colliderFriction = shapeDescription.friction;
+               
+                               if( shapeDescription.collisionShapeType == CAPSULE_SHAPE_PROXYTYPE )
+                               {
+                                       // Colliding with a capsule
+
+                                       float capsuleHalfHeight = shapeDescription.halfHeight;
+                                       float capsuleRadius = shapeDescription.radius;
+                                       float capsuleMargin = shapeDescription.margin;
+                                       float4x4 worldTransform = shapeDescription.shapeTransform;
+
+                                       float4 c1 = float4(0.f, -capsuleHalfHeight, 0.f, 1.f); 
+                                       float4 c2 = float4(0.f, +capsuleHalfHeight, 0.f, 1.f);
+                                       float4 worldC1 = mul(worldTransform, c1);
+                                       float4 worldC2 = mul(worldTransform, c2);
+                                       float3 segment = (worldC2 - worldC1).xyz;
+
+                                       // compute distance of tangent to vertex along line segment in capsule
+                                       float distanceAlongSegment = -( dot( (worldC1 - position).xyz, segment ) / dot(segment, segment) );
+
+                                       float4 closestPoint = (worldC1 + float4(segment * distanceAlongSegment, 0.f));
+                                       float distanceFromLine = length(position - closestPoint);
+                                       float distanceFromC1 = length(worldC1 - position);
+                                       float distanceFromC2 = length(worldC2 - position);
+                                       
+                                       // Final distance from collision, point to push from, direction to push in
+                                       // for impulse force
+                                       float dist;
+                                       float3 normalVector;
+                                       if( distanceAlongSegment < 0 )
+                                       {
+                                               dist = distanceFromC1;
+                                               normalVector = normalize(position - worldC1).xyz;
+                                       } else if( distanceAlongSegment > 1.f ) {
+                                               dist = distanceFromC2;
+                                               normalVector = normalize(position - worldC2).xyz;       
+                                       } else {
+                                               dist = distanceFromLine;
+                                               normalVector = normalize(position - closestPoint).xyz;
+                                       }
+                                               
+                                       float3 colliderLinearVelocity = shapeDescription.linearVelocity.xyz;
+                                       float3 colliderAngularVelocity = shapeDescription.angularVelocity.xyz;
+                                       float3 velocityOfSurfacePoint = colliderLinearVelocity + cross(colliderAngularVelocity, position.xyz - worldTransform._m03_m13_m23);
+
+                                       float minDistance = capsuleRadius + capsuleMargin;
+                                       
+                                       // In case of no collision, this is the value of velocity
+                                       velocity = (position - previousPosition).xyz * velocityCoefficient * isolverdt;
+                                       
+                                       
+                                       // Check for a collision
+                                       if( dist < minDistance )
+                                       {
+                                               // Project back to surface along normal
+                                               position = position + float4((minDistance - dist)*normalVector*0.9, 0.f);
+                                               velocity = (position - previousPosition).xyz * velocityCoefficient * isolverdt;
+                                               float3 relativeVelocity = velocity - velocityOfSurfacePoint;
+
+                                               float3 p1 = normalize(cross(normalVector, segment));
+                                               float3 p2 = normalize(cross(p1, normalVector));
+                                               // Full friction is sum of velocities in each direction of plane
+                                               float3 frictionVector = p1*dot(relativeVelocity, p1) + p2*dot(relativeVelocity, p2);
+
+                                               // Real friction is peak friction corrected by friction coefficients
+                                               frictionVector = frictionVector * (colliderFriction*clothFriction);
+
+                                               float approachSpeed = dot(relativeVelocity, normalVector);
+
+                                               if( approachSpeed <= 0.0 )
+                                                       forceOnVertex -= frictionVector;
+                                       }
+                                       
+                               }
+                       }
+               } else {
+                       // Update velocity      
+                       float3 difference = position.xyz - previousPosition.xyz;
+                       velocity = difference*velocityCoefficient*isolverdt;                    
+               }
+
+               g_vertexVelocities[nodeID] = float4(velocity, 0.f);     
+
+               // Update external force
+               g_vertexForces[nodeID] = float4(forceOnVertex, 0.f);
+
+               g_vertexPositions[nodeID] = float4(position.xyz, 0.f);
+       }
+}
+
+);

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/solveCollisionsAndUpdateVelocitiesSIMDBatched.hlsl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/solveCollisionsAndUpdateVelocitiesSIMDBatched.hlsl
new file mode 100644 (file)
index 0000000..0b2a027
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/solveCollisionsAndUpdateVelocitiesSIMDBatched.hlsl
@@ -0,0 +1,191 @@
+MSTRINGIFY(
+
+cbuffer SolvePositionsFromLinksKernelCB : register( b0 )
+{
+       unsigned int numNodes;
+       float isolverdt;
+       int padding0;
+       int padding1;
+};
+
+struct CollisionObjectIndices
+{
+       int firstObject;
+       int endObject;
+};
+
+struct CollisionShapeDescription
+{
+       float4x4 shapeTransform;
+       float4 linearVelocity;
+       float4 angularVelocity;
+
+       int softBodyIdentifier;
+       int collisionShapeType;
+       
+
+       // Shape information
+       // Compressed from the union
+       float radius;
+       float halfHeight;
+               
+       float margin;
+       float friction;
+
+       int padding0;
+       int padding1;
+       
+};
+
+// From btBroadphaseProxy.h
+static const int CAPSULE_SHAPE_PROXYTYPE = 10;
+
+// Node indices for each link
+StructuredBuffer<int> g_vertexClothIdentifier : register( t0 );
+StructuredBuffer<float4> g_vertexPreviousPositions : register( t1 );
+StructuredBuffer<float> g_perClothFriction : register( t2 );
+StructuredBuffer<float> g_clothDampingFactor : register( t3 );
+StructuredBuffer<CollisionObjectIndices> g_perClothCollisionObjectIndices : register( t4 );
+StructuredBuffer<CollisionShapeDescription> g_collisionObjectDetails : register( t5 );
+
+RWStructuredBuffer<float4> g_vertexForces : register( u0 );
+RWStructuredBuffer<float4> g_vertexVelocities : register( u1 );
+RWStructuredBuffer<float4> g_vertexPositions : register( u2 );
+
+// A buffer of local collision shapes
+// TODO: Iterate to support more than 16
+groupshared CollisionShapeDescription localCollisionShapes[16];
+
+[numthreads(128, 1, 1)]
+void 
+SolveCollisionsAndUpdateVelocitiesKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex )
+{
+       int nodeID = DTid.x;
+       float3 forceOnVertex = float3(0.f, 0.f, 0.f);
+
+       int clothIdentifier = g_vertexClothIdentifier[nodeID];
+       float4 position = float4(g_vertexPositions[nodeID].xyz, 1.f);
+       float4 previousPosition = float4(g_vertexPreviousPositions[nodeID].xyz, 1.f);
+       float3 velocity;
+       float clothFriction = g_perClothFriction[clothIdentifier];
+       float dampingFactor = g_clothDampingFactor[clothIdentifier];
+       float velocityCoefficient = (1.f - dampingFactor);              
+       CollisionObjectIndices collisionObjectIndices = g_perClothCollisionObjectIndices[clothIdentifier];
+       
+       int numObjects = collisionObjectIndices.endObject - collisionObjectIndices.firstObject;
+       if( numObjects > 0 )
+       {
+               // We have some possible collisions to deal with
+               
+               // First load all of the collision objects into LDS
+               int numObjects = collisionObjectIndices.endObject - collisionObjectIndices.firstObject;
+               if( GTid.x < numObjects )
+               {
+                       localCollisionShapes[GTid.x] = g_collisionObjectDetails[ collisionObjectIndices.firstObject + GTid.x ];
+               }
+       }
+
+       // Safe as the vertices are padded so that not more than one soft body is in a group
+       AllMemoryBarrierWithGroupSync();
+
+       // Annoyingly, even though I know the flow control is not varying, the compiler will not let me skip this
+       if( numObjects > 0 )
+       {
+               velocity = float3(0, 0, 0);
+               
+               
+               // We have some possible collisions to deal with
+               for( int collision = 0; collision < numObjects; ++collision )
+               {
+                       CollisionShapeDescription shapeDescription = localCollisionShapes[collision];
+                       float colliderFriction = shapeDescription.friction;
+               
+                       if( shapeDescription.collisionShapeType == CAPSULE_SHAPE_PROXYTYPE )
+                       {
+                               // Colliding with a capsule
+
+                               float capsuleHalfHeight = localCollisionShapes[collision].halfHeight;
+                               float capsuleRadius = localCollisionShapes[collision].radius;
+                               float capsuleMargin = localCollisionShapes[collision].margin;
+
+                               float4x4 worldTransform = localCollisionShapes[collision].shapeTransform;
+
+                               float4 c1 = float4(0.f, -capsuleHalfHeight, 0.f, 1.f); 
+                               float4 c2 = float4(0.f, +capsuleHalfHeight, 0.f, 1.f);
+                               float4 worldC1 = mul(worldTransform, c1);
+                               float4 worldC2 = mul(worldTransform, c2);
+                               float3 segment = (worldC2 - worldC1).xyz;
+
+                               // compute distance of tangent to vertex along line segment in capsule
+                               float distanceAlongSegment = -( dot( (worldC1 - position).xyz, segment ) / dot(segment, segment) );
+
+                               float4 closestPoint = (worldC1 + float4(segment * distanceAlongSegment, 0.f));
+                               float distanceFromLine = length(position - closestPoint);
+                               float distanceFromC1 = length(worldC1 - position);
+                               float distanceFromC2 = length(worldC2 - position);
+                                       
+                               // Final distance from collision, point to push from, direction to push in
+                               // for impulse force
+                               float dist;
+                               float3 normalVector;
+                               if( distanceAlongSegment < 0 )
+                               {
+                                       dist = distanceFromC1;
+                                       normalVector = normalize(position - worldC1).xyz;
+                               } else if( distanceAlongSegment > 1.f ) {
+                                       dist = distanceFromC2;
+                                       normalVector = normalize(position - worldC2).xyz;       
+                               } else {
+                                       dist = distanceFromLine;
+                                       normalVector = normalize(position - closestPoint).xyz;
+                               }
+                                               
+                               float3 colliderLinearVelocity = localCollisionShapes[collision].linearVelocity.xyz;
+                               float3 colliderAngularVelocity = localCollisionShapes[collision].angularVelocity.xyz;
+                               float3 velocityOfSurfacePoint = colliderLinearVelocity + cross(colliderAngularVelocity, position.xyz - worldTransform._m03_m13_m23);
+
+                               float minDistance = capsuleRadius + capsuleMargin;
+                                       
+                               // In case of no collision, this is the value of velocity
+                               velocity = (position - previousPosition).xyz * velocityCoefficient * isolverdt;
+                                       
+                                       
+                               // Check for a collision
+                               if( dist < minDistance )
+                               {
+                                       // Project back to surface along normal
+                                       position = position + float4((minDistance - dist)*normalVector*0.9, 0.f);
+                                       velocity = (position - previousPosition).xyz * velocityCoefficient * isolverdt;
+                                       float3 relativeVelocity = velocity - velocityOfSurfacePoint;
+
+                                       float3 p1 = normalize(cross(normalVector, segment));
+                                       float3 p2 = normalize(cross(p1, normalVector));
+                                       // Full friction is sum of velocities in each direction of plane
+                                       float3 frictionVector = p1*dot(relativeVelocity, p1) + p2*dot(relativeVelocity, p2);
+
+                                       // Real friction is peak friction corrected by friction coefficients
+                                       frictionVector = frictionVector * (colliderFriction*clothFriction);
+
+                                       float approachSpeed = dot(relativeVelocity, normalVector);
+
+                                       if( approachSpeed <= 0.0 )
+                                               forceOnVertex -= frictionVector;
+                               }
+                                       
+                       }
+               }
+       } else {
+               // Update velocity      
+               float3 difference = position.xyz - previousPosition.xyz;
+               velocity = difference*velocityCoefficient*isolverdt;                    
+       }
+
+       g_vertexVelocities[nodeID] = float4(velocity, 0.f);     
+
+       // Update external force
+       g_vertexForces[nodeID] = float4(forceOnVertex, 0.f);
+
+       g_vertexPositions[nodeID] = float4(position.xyz, 0.f);
+}
+
+);

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverBuffer_DX11.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverBuffer_DX11.h
new file mode 100644 (file)
index 0000000..b6a99cc
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverBuffer_DX11.h
@@ -0,0 +1,323 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+#ifndef BT_SOFT_BODY_SOLVER_BUFFER_DX11_H
+#define BT_SOFT_BODY_SOLVER_BUFFER_DX11_H
+
+// DX11 support
+#include <windows.h>
+#include <crtdbg.h>
+#include <d3d11.h>
+#include <d3dx11.h>
+#include <d3dcompiler.h>
+
+#ifndef SAFE_RELEASE
+#define SAFE_RELEASE(p)      { if(p) { (p)->Release(); (p)=NULL; } }
+#endif
+
+/**
+ * DX11 Buffer that tracks a host buffer on use to ensure size-correctness.
+ */
+template <typename ElementType> class btDX11Buffer
+{
+protected:
+       ID3D11Device*                           m_d3dDevice;
+       ID3D11DeviceContext*            m_d3dDeviceContext;
+
+       ID3D11Buffer*               m_Buffer;
+       ID3D11ShaderResourceView*   m_SRV;
+       ID3D11UnorderedAccessView*  m_UAV;
+       btAlignedObjectArray< ElementType >*    m_CPUBuffer;
+
+       // TODO: Separate this from the main class
+       // as read back buffers can be shared between buffers
+       ID3D11Buffer*               m_readBackBuffer;
+
+       int m_gpuSize;
+       bool m_onGPU;
+
+       bool m_readOnlyOnGPU;
+       
+       bool createBuffer( ID3D11Buffer *preexistingBuffer = 0)
+       {
+               HRESULT hr = S_OK;
+
+               // Create all CS buffers
+               if( preexistingBuffer )
+               {
+                       m_Buffer = preexistingBuffer;
+               } else {
+                       D3D11_BUFFER_DESC buffer_desc;
+                       ZeroMemory(&buffer_desc, sizeof(buffer_desc));          
+                       buffer_desc.Usage = D3D11_USAGE_DEFAULT;
+                       if( m_readOnlyOnGPU )
+                               buffer_desc.BindFlags = D3D11_BIND_SHADER_RESOURCE;
+                       else
+                               buffer_desc.BindFlags = D3D11_BIND_SHADER_RESOURCE | D3D11_BIND_UNORDERED_ACCESS;
+                       buffer_desc.MiscFlags = D3D11_RESOURCE_MISC_BUFFER_STRUCTURED;
+                       
+                       buffer_desc.ByteWidth = m_CPUBuffer->size() * sizeof(ElementType);
+                       // At a minimum the buffer must exist
+                       if( buffer_desc.ByteWidth == 0 )
+                               buffer_desc.ByteWidth = sizeof(ElementType);
+                       buffer_desc.StructureByteStride = sizeof(ElementType);
+                       hr = m_d3dDevice->CreateBuffer(&buffer_desc, NULL, &m_Buffer);
+                       if( FAILED( hr ) )
+                       return (hr==S_OK);
+               } 
+
+               if( m_readOnlyOnGPU )
+               {
+                       D3D11_SHADER_RESOURCE_VIEW_DESC srvbuffer_desc;
+                       ZeroMemory(&srvbuffer_desc, sizeof(srvbuffer_desc));
+                       srvbuffer_desc.Format = DXGI_FORMAT_UNKNOWN;
+                       srvbuffer_desc.ViewDimension = D3D11_SRV_DIMENSION_BUFFER;
+
+                       srvbuffer_desc.Buffer.ElementWidth = m_CPUBuffer->size();
+                       if( srvbuffer_desc.Buffer.ElementWidth == 0 )
+                               srvbuffer_desc.Buffer.ElementWidth = 1;
+                       hr = m_d3dDevice->CreateShaderResourceView(m_Buffer, &srvbuffer_desc, &m_SRV);
+                       if( FAILED( hr ) )
+                               return (hr==S_OK);
+               } else {
+                       // Create SRV
+                       D3D11_SHADER_RESOURCE_VIEW_DESC srvbuffer_desc;
+                       ZeroMemory(&srvbuffer_desc, sizeof(srvbuffer_desc));
+                       srvbuffer_desc.Format = DXGI_FORMAT_UNKNOWN;
+                       srvbuffer_desc.ViewDimension = D3D11_SRV_DIMENSION_BUFFER;
+
+                       srvbuffer_desc.Buffer.ElementWidth = m_CPUBuffer->size();
+                       if( srvbuffer_desc.Buffer.ElementWidth == 0 )
+                               srvbuffer_desc.Buffer.ElementWidth = 1;
+                       hr = m_d3dDevice->CreateShaderResourceView(m_Buffer, &srvbuffer_desc, &m_SRV);
+                       if( FAILED( hr ) )
+                               return (hr==S_OK);
+
+                       // Create UAV
+                       D3D11_UNORDERED_ACCESS_VIEW_DESC uavbuffer_desc;
+                       ZeroMemory(&uavbuffer_desc, sizeof(uavbuffer_desc));
+                       uavbuffer_desc.Format = DXGI_FORMAT_UNKNOWN;
+                       uavbuffer_desc.ViewDimension = D3D11_UAV_DIMENSION_BUFFER;
+
+                       uavbuffer_desc.Buffer.NumElements = m_CPUBuffer->size();
+                       if( uavbuffer_desc.Buffer.NumElements == 0 )
+                               uavbuffer_desc.Buffer.NumElements = 1;
+                       hr = m_d3dDevice->CreateUnorderedAccessView(m_Buffer, &uavbuffer_desc, &m_UAV);
+                       if( FAILED( hr ) )
+                               return (hr==S_OK);
+
+                       // Create read back buffer
+                       D3D11_BUFFER_DESC readback_buffer_desc;
+                       ZeroMemory(&readback_buffer_desc, sizeof(readback_buffer_desc));
+
+                       readback_buffer_desc.ByteWidth = m_CPUBuffer->size() * sizeof(ElementType);
+                       readback_buffer_desc.Usage = D3D11_USAGE_STAGING;
+                       readback_buffer_desc.CPUAccessFlags = D3D11_CPU_ACCESS_READ;
+                       readback_buffer_desc.StructureByteStride = sizeof(ElementType);
+                       hr = m_d3dDevice->CreateBuffer(&readback_buffer_desc, NULL, &m_readBackBuffer);
+                       if( FAILED( hr ) )
+                               return (hr==S_OK);
+               }
+
+               m_gpuSize = m_CPUBuffer->size();
+               return true;
+       }
+
+
+
+public:
+       btDX11Buffer( ID3D11Device *d3dDevice, ID3D11DeviceContext *d3dDeviceContext, btAlignedObjectArray< ElementType > *CPUBuffer, bool readOnly )
+       {
+               m_d3dDevice = d3dDevice;
+               m_d3dDeviceContext = d3dDeviceContext;
+               m_Buffer = 0;
+               m_SRV = 0;
+               m_UAV = 0;
+               m_readBackBuffer = 0;
+
+               m_CPUBuffer = CPUBuffer;
+
+               m_gpuSize = 0;
+               m_onGPU = false;
+
+               m_readOnlyOnGPU = readOnly;
+       }
+
+       virtual ~btDX11Buffer()
+       {
+               SAFE_RELEASE(m_Buffer);
+               SAFE_RELEASE(m_SRV);
+               SAFE_RELEASE(m_UAV);
+               SAFE_RELEASE(m_readBackBuffer);
+       }
+
+       ID3D11ShaderResourceView* &getSRV()
+       {
+               return m_SRV;
+       }
+
+       ID3D11UnorderedAccessView* &getUAV()
+       {
+               return m_UAV;
+       }
+
+       ID3D11Buffer* &getBuffer()
+       {
+               return m_Buffer;
+       }
+
+       /**
+        * Move the data to the GPU if it is not there already.
+        */
+       bool moveToGPU()
+       {
+               // Reallocate if GPU size is too small
+               if( (m_CPUBuffer->size() > m_gpuSize ) )
+                       m_onGPU = false;
+               if( !m_onGPU && m_CPUBuffer->size() > 0 )
+               {
+                       // If the buffer doesn't exist or the CPU-side buffer has changed size, create
+                       // We should really delete the old one, too, but let's leave that for later
+                       if( !m_Buffer || (m_CPUBuffer->size() != m_gpuSize) )
+                       {
+                               SAFE_RELEASE(m_Buffer);
+                               SAFE_RELEASE(m_SRV);
+                               SAFE_RELEASE(m_UAV);
+                               SAFE_RELEASE(m_readBackBuffer);
+                               if( !createBuffer() )
+                               {
+                                       btAssert("Buffer creation failed.");
+                                       return false;
+                               }
+                       }
+
+                       if( m_gpuSize > 0 )
+                       {
+                               D3D11_BOX destRegion;
+                               destRegion.left = 0;
+                               destRegion.front = 0;
+                               destRegion.top = 0;
+                               destRegion.bottom = 1;
+                               destRegion.back = 1;
+                               destRegion.right = (m_CPUBuffer->size())*sizeof(ElementType);
+                               m_d3dDeviceContext->UpdateSubresource(m_Buffer, 0, &destRegion, &((*m_CPUBuffer)[0]), 0, 0);
+
+                               m_onGPU = true;
+                       }
+
+               }
+
+               return true;
+       }
+
+       /**
+        * Move the data back from the GPU if it is on there and isn't read only.
+        */
+       bool moveFromGPU()
+       {
+               if( m_CPUBuffer->size() > 0 )
+               {
+                       if( m_onGPU && !m_readOnlyOnGPU )
+                       {
+                               // Copy back
+                               D3D11_MAPPED_SUBRESOURCE MappedResource = {0}; 
+                               //m_pd3dImmediateContext->CopyResource(m_phAngVelReadBackBuffer, m_phAngVel);
+
+                               D3D11_BOX destRegion;   
+                               destRegion.left = 0;
+                               destRegion.front = 0;
+                               destRegion.top = 0;
+                               destRegion.bottom = 1;
+                               destRegion.back = 1;
+
+                               destRegion.right = (m_CPUBuffer->size())*sizeof(ElementType);
+                               m_d3dDeviceContext->CopySubresourceRegion(
+                                       m_readBackBuffer,
+                                       0,
+                                       0,
+                                       0,
+                                       0 ,
+                                       m_Buffer,
+                                       0,
+                                       &destRegion
+                                       );
+
+                               m_d3dDeviceContext->Map(m_readBackBuffer, 0, D3D11_MAP_READ, 0, &MappedResource);   
+                               //memcpy(m_hAngVel, MappedResource.pData, (m_maxObjs * sizeof(float) ));
+                               memcpy(&((*m_CPUBuffer)[0]), MappedResource.pData, ((m_CPUBuffer->size()) * sizeof(ElementType) ));             
+                               m_d3dDeviceContext->Unmap(m_readBackBuffer, 0);
+
+                               m_onGPU = false;
+                       }
+               }
+
+               return true;
+       }
+
+
+       /**
+        * Copy the data back from the GPU without changing its state to be CPU-side.
+        * Useful if we just want to view it on the host for visualization.
+        */
+       bool copyFromGPU()
+       {
+               if( m_CPUBuffer->size() > 0 )
+               {
+                       if( m_onGPU && !m_readOnlyOnGPU )
+                       {
+                               // Copy back
+                               D3D11_MAPPED_SUBRESOURCE MappedResource = {0}; 
+
+                               D3D11_BOX destRegion;   
+                               destRegion.left = 0;
+                               destRegion.front = 0;
+                               destRegion.top = 0;
+                               destRegion.bottom = 1;
+                               destRegion.back = 1;
+
+                               destRegion.right = (m_CPUBuffer->size())*sizeof(ElementType);
+                               m_d3dDeviceContext->CopySubresourceRegion(
+                                       m_readBackBuffer,
+                                       0,
+                                       0,
+                                       0,
+                                       0 ,
+                                       m_Buffer,
+                                       0,
+                                       &destRegion
+                                       );
+
+                               m_d3dDeviceContext->Map(m_readBackBuffer, 0, D3D11_MAP_READ, 0, &MappedResource);   
+                               //memcpy(m_hAngVel, MappedResource.pData, (m_maxObjs * sizeof(float) ));
+                               memcpy(&((*m_CPUBuffer)[0]), MappedResource.pData, ((m_CPUBuffer->size()) * sizeof(ElementType) ));             
+                               m_d3dDeviceContext->Unmap(m_readBackBuffer, 0);
+                       }
+               }
+
+               return true;
+       }
+
+       /**
+        * Call if data has changed on the CPU.
+        * Can then trigger a move to the GPU as necessary.
+        */
+       virtual void changedOnCPU()
+       {
+               m_onGPU = false;
+       }
+}; // class btDX11Buffer
+
+
+
+#endif // #ifndef BT_SOFT_BODY_SOLVER_BUFFER_DX11_H
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverLinkData_DX11.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverLinkData_DX11.h
new file mode 100644 (file)
index 0000000..454c3c8
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverLinkData_DX11.h
@@ -0,0 +1,103 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#include "BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h"
+#include "btSoftBodySolverBuffer_DX11.h"
+
+
+#ifndef BT_SOFT_BODY_SOLVER_LINK_DATA_DX11_H
+#define BT_SOFT_BODY_SOLVER_LINK_DATA_DX11_H
+
+struct ID3D11Device;
+struct ID3D11DeviceContext;
+
+
+class btSoftBodyLinkDataDX11 : public btSoftBodyLinkData
+{
+public:
+       bool                            m_onGPU;
+       ID3D11Device            *m_d3dDevice;
+       ID3D11DeviceContext *m_d3dDeviceContext;
+
+
+       btDX11Buffer<LinkNodePair>                              m_dx11Links;
+       btDX11Buffer<float>                                                                                     m_dx11LinkStrength;
+       btDX11Buffer<float>                                                                                     m_dx11LinksMassLSC;
+       btDX11Buffer<float>                                                                                     m_dx11LinksRestLengthSquared;
+       btDX11Buffer<Vectormath::Aos::Vector3>                                          m_dx11LinksCLength;
+       btDX11Buffer<float>                                                                                     m_dx11LinksLengthRatio;
+       btDX11Buffer<float>                                                                                     m_dx11LinksRestLength;
+       btDX11Buffer<float>                                                                                     m_dx11LinksMaterialLinearStiffnessCoefficient;
+
+       struct BatchPair
+       {
+               int start;
+               int length;
+
+               BatchPair() :
+                       start(0),
+                       length(0)
+               {
+               }
+
+               BatchPair( int s, int l ) : 
+                       start( s ),
+                       length( l )
+               {
+               }
+       };
+
+       /**
+        * Link addressing information for each cloth.
+        * Allows link locations to be computed independently of data batching.
+        */
+       btAlignedObjectArray< int >                                                     m_linkAddresses;
+
+       /**
+        * Start and length values for computation batches over link data.
+        */
+       btAlignedObjectArray< BatchPair >               m_batchStartLengths;
+
+
+       //ID3D11Buffer*               readBackBuffer;
+       
+       btSoftBodyLinkDataDX11( ID3D11Device *d3dDevice, ID3D11DeviceContext *d3dDeviceContext );
+
+       virtual ~btSoftBodyLinkDataDX11();
+
+       /** Allocate enough space in all link-related arrays to fit numLinks links */
+       virtual void createLinks( int numLinks );
+       
+       /** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */
+       virtual void setLinkAt( const LinkDescription &link, int linkIndex );
+
+       virtual bool onAccelerator();
+
+       virtual bool moveToAccelerator();
+
+       virtual bool moveFromAccelerator();
+
+       /**
+        * Generate (and later update) the batching for the entire link set.
+        * This redoes a lot of work because it batches the entire set when each cloth is inserted.
+        * In theory we could delay it until just before we need the cloth.
+        * It's a one-off overhead, though, so that is a later optimisation.
+        */
+       void generateBatches();
+};
+
+
+#endif // #ifndef BT_SOFT_BODY_SOLVER_LINK_DATA_DX11_H

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverLinkData_DX11SIMDAware.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverLinkData_DX11SIMDAware.h
new file mode 100644 (file)
index 0000000..6eb26c6
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverLinkData_DX11SIMDAware.h
@@ -0,0 +1,173 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h"
+#include "btSoftBodySolverBuffer_DX11.h"
+
+#ifndef BT_ACCELERATED_SOFT_BODY_LINK_DATA_DX11_SIMDAWARE_H
+#define BT_ACCELERATED_SOFT_BODY_LINK_DATA_DX11_SIMDAWARE_H
+
+struct ID3D11Device;
+struct ID3D11DeviceContext;
+
+
+class btSoftBodyLinkDataDX11SIMDAware : public btSoftBodyLinkData
+{
+public:
+       bool                            m_onGPU;
+       ID3D11Device            *m_d3dDevice;
+       ID3D11DeviceContext *m_d3dDeviceContext;
+
+       const int m_wavefrontSize;
+       const int m_linksPerWorkItem;
+       const int m_maxLinksPerWavefront;
+       int m_maxBatchesWithinWave;
+       int m_maxVerticesWithinWave;
+       int m_numWavefronts;
+
+       int m_maxVertex;
+
+       struct NumBatchesVerticesPair
+       {
+               int numBatches;
+               int numVertices;
+       };
+
+       // Array storing number of links in each wavefront
+       btAlignedObjectArray<int>                                                                       m_linksPerWavefront;
+       btAlignedObjectArray<NumBatchesVerticesPair>                            m_numBatchesAndVerticesWithinWaves;
+       btDX11Buffer< NumBatchesVerticesPair >                                          m_dx11NumBatchesAndVerticesWithinWaves;
+
+       // All arrays here will contain batches of m_maxLinksPerWavefront links
+       // ordered by wavefront.
+       // with either global vertex pairs or local vertex pairs
+       btAlignedObjectArray< int >                                                                     m_wavefrontVerticesGlobalAddresses; // List of global vertices per wavefront
+       btDX11Buffer<int>                                                                                       m_dx11WavefrontVerticesGlobalAddresses;
+       btAlignedObjectArray< LinkNodePair >                                            m_linkVerticesLocalAddresses; // Vertex pair for the link
+       btDX11Buffer<LinkNodePair>                                                                      m_dx11LinkVerticesLocalAddresses;
+       btDX11Buffer<float>                                                                                     m_dx11LinkStrength;
+       btDX11Buffer<float>                                                                                     m_dx11LinksMassLSC;
+       btDX11Buffer<float>                                                                                     m_dx11LinksRestLengthSquared;
+       btDX11Buffer<float>                                                                                     m_dx11LinksRestLength;
+       btDX11Buffer<float>                                                                                     m_dx11LinksMaterialLinearStiffnessCoefficient;
+
+       struct BatchPair
+       {
+               int start;
+               int length;
+
+               BatchPair() :
+                       start(0),
+                       length(0)
+               {
+               }
+
+               BatchPair( int s, int l ) : 
+                       start( s ),
+                       length( l )
+               {
+               }
+       };
+
+       /**
+        * Link addressing information for each cloth.
+        * Allows link locations to be computed independently of data batching.
+        */
+       btAlignedObjectArray< int >                                                     m_linkAddresses;
+
+       /**
+        * Start and length values for computation batches over link data.
+        */
+       btAlignedObjectArray< BatchPair >               m_wavefrontBatchStartLengths;
+
+
+       //ID3D11Buffer*               readBackBuffer;
+       
+       btSoftBodyLinkDataDX11SIMDAware( ID3D11Device *d3dDevice, ID3D11DeviceContext *d3dDeviceContext );
+
+       virtual ~btSoftBodyLinkDataDX11SIMDAware();
+
+       /** Allocate enough space in all link-related arrays to fit numLinks links */
+       virtual void createLinks( int numLinks );
+       
+       /** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */
+       virtual void setLinkAt( const LinkDescription &link, int linkIndex );
+
+       virtual bool onAccelerator();
+
+       virtual bool moveToAccelerator();
+
+       virtual bool moveFromAccelerator();
+
+       /**
+        * Generate (and later update) the batching for the entire link set.
+        * This redoes a lot of work because it batches the entire set when each cloth is inserted.
+        * In theory we could delay it until just before we need the cloth.
+        * It's a one-off overhead, though, so that is a later optimisation.
+        */
+       void generateBatches();
+
+       int getMaxVerticesPerWavefront()
+       {
+               return m_maxVerticesWithinWave;
+       }
+
+       int getWavefrontSize()
+       {
+               return m_wavefrontSize;
+       }
+
+       int getLinksPerWorkItem()
+       {
+               return m_linksPerWorkItem;
+       }
+
+       int getMaxLinksPerWavefront()
+       {
+               return m_maxLinksPerWavefront;
+       }
+
+       int getMaxBatchesPerWavefront()
+       {
+               return m_maxBatchesWithinWave;
+       }
+
+       int getNumWavefronts()
+       {
+               return m_numWavefronts;
+       }
+
+       NumBatchesVerticesPair getNumBatchesAndVerticesWithinWavefront( int wavefront )
+       {
+               return m_numBatchesAndVerticesWithinWaves[wavefront];
+       }
+
+       int getVertexGlobalAddresses( int vertexIndex )
+       {
+               return m_wavefrontVerticesGlobalAddresses[vertexIndex];
+       }
+
+       /**
+        * Get post-batching local addresses of the vertex pair for a link assuming all vertices used by a wavefront are loaded locally.
+        */
+       LinkNodePair getVertexPairLocalAddresses( int linkIndex )
+       {
+               return m_linkVerticesLocalAddresses[linkIndex];
+       }
+
+};
+
+
+#endif // #ifndef BT_ACCELERATED_SOFT_BODY_LINK_DATA_DX11_SIMDAWARE_H

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverTriangleData_DX11.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverTriangleData_DX11.h
new file mode 100644 (file)
index 0000000..7012fab
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverTriangleData_DX11.h
@@ -0,0 +1,96 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h"
+#include "btSoftBodySolverBuffer_DX11.h"
+
+
+#ifndef BT_SOFT_BODY_SOLVER_TRIANGLE_DATA_DX11_H
+#define BT_SOFT_BODY_SOLVER_TRIANGLE_DATA_DX11_H
+
+struct ID3D11Device;
+struct ID3D11DeviceContext;
+
+class btSoftBodyTriangleDataDX11 : public btSoftBodyTriangleData
+{
+public:
+       bool                            m_onGPU;
+       ID3D11Device            *m_d3dDevice;
+       ID3D11DeviceContext *m_d3dDeviceContext;
+
+       btDX11Buffer<btSoftBodyTriangleData::TriangleNodeSet>                                                   m_dx11VertexIndices;
+       btDX11Buffer<float>                                                                     m_dx11Area;
+       btDX11Buffer<Vectormath::Aos::Vector3>                          m_dx11Normal;
+
+       struct BatchPair
+       {
+               int start;
+               int length;
+
+               BatchPair() :
+                       start(0),
+                       length(0)
+               {
+               }
+
+               BatchPair( int s, int l ) : 
+                       start( s ),
+                       length( l )
+               {
+               }
+       };
+
+
+       /**
+        * Link addressing information for each cloth.
+        * Allows link locations to be computed independently of data batching.
+        */
+       btAlignedObjectArray< int >                                                     m_triangleAddresses;
+
+       /**
+        * Start and length values for computation batches over link data.
+        */
+       btAlignedObjectArray< BatchPair >               m_batchStartLengths;
+
+       //ID3D11Buffer*               readBackBuffer;
+
+public:
+       btSoftBodyTriangleDataDX11( ID3D11Device *d3dDevice, ID3D11DeviceContext *d3dDeviceContext );
+
+       virtual ~btSoftBodyTriangleDataDX11();
+
+
+       /** Allocate enough space in all link-related arrays to fit numLinks links */
+       virtual void createTriangles( int numTriangles );
+       
+       /** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */
+       virtual void setTriangleAt( const btSoftBodyTriangleData::TriangleDescription &triangle, int triangleIndex );
+
+       virtual bool onAccelerator();
+       virtual bool moveToAccelerator();
+
+       virtual bool moveFromAccelerator();
+       /**
+        * Generate (and later update) the batching for the entire triangle set.
+        * This redoes a lot of work because it batches the entire set when each cloth is inserted.
+        * In theory we could delay it until just before we need the cloth.
+        * It's a one-off overhead, though, so that is a later optimisation.
+        */
+       void generateBatches();
+};
+
+
+
+#endif // #ifndef BT_SOFT_BODY_SOLVER_TRIANGLE_DATA_DX11_H

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverVertexBuffer_DX11.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverVertexBuffer_DX11.h
new file mode 100644 (file)
index 0000000..66bd90f
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverVertexBuffer_DX11.h
@@ -0,0 +1,107 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_DX11_H
+#define BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_DX11_H 
+
+
+#include "BulletSoftBody/btSoftBodySolverVertexBuffer.h"
+
+#include <windows.h>
+#include <crtdbg.h>
+#include <d3d11.h>
+#include <d3dx11.h>
+#include <d3dcompiler.h>
+
+class btDX11VertexBufferDescriptor : public btVertexBufferDescriptor
+{
+protected:
+       /** Context of the DX11 device on which the vertex buffer is stored. */
+       ID3D11DeviceContext* m_context;
+       /** DX11 vertex buffer */
+       ID3D11Buffer* m_vertexBuffer;
+       /** UAV for DX11 buffer */
+       ID3D11UnorderedAccessView*  m_vertexBufferUAV;
+
+
+public:
+       /**
+        * buffer is a pointer to the DX11 buffer to place the vertex data in.
+        * UAV is a pointer to the UAV representation of the buffer laid out in floats.
+        * vertexOffset is the offset in floats to the first vertex.
+        * vertexStride is the stride in floats between vertices.
+        */
+       btDX11VertexBufferDescriptor( ID3D11DeviceContext* context, ID3D11Buffer* buffer, ID3D11UnorderedAccessView *UAV, int vertexOffset, int vertexStride )
+       {
+               m_context = context;
+               m_vertexBuffer = buffer;
+               m_vertexBufferUAV = UAV;
+               m_vertexOffset = vertexOffset;
+               m_vertexStride = vertexStride;
+               m_hasVertexPositions = true;
+       }
+
+       /**
+        * buffer is a pointer to the DX11 buffer to place the vertex data in.
+        * UAV is a pointer to the UAV representation of the buffer laid out in floats.
+        * vertexOffset is the offset in floats to the first vertex.
+        * vertexStride is the stride in floats between vertices.
+        * normalOffset is the offset in floats to the first normal.
+        * normalStride is the stride in floats between normals.
+        */
+       btDX11VertexBufferDescriptor( ID3D11DeviceContext* context, ID3D11Buffer* buffer, ID3D11UnorderedAccessView *UAV, int vertexOffset, int vertexStride, int normalOffset, int normalStride )
+       {
+               m_context = context;
+               m_vertexBuffer = buffer;
+               m_vertexBufferUAV = UAV;
+               m_vertexOffset = vertexOffset;
+               m_vertexStride = vertexStride;
+               m_hasVertexPositions = true;
+               
+               m_normalOffset = normalOffset;
+               m_normalStride = normalStride;
+               m_hasNormals = true;
+       }
+
+       virtual ~btDX11VertexBufferDescriptor()
+       {
+
+       }
+
+       /**
+        * Return the type of the vertex buffer descriptor.
+        */
+       virtual BufferTypes getBufferType() const
+       {
+               return DX11_BUFFER;
+       }
+
+       virtual ID3D11DeviceContext* getContext() const
+       {
+               return m_context;
+       }
+
+       virtual ID3D11Buffer* getbtDX11Buffer() const
+       {
+               return m_vertexBuffer;
+       }
+
+       virtual ID3D11UnorderedAccessView* getDX11UAV() const
+       {
+               return m_vertexBufferUAV;
+       }               
+};
+
+#endif // #ifndef BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_DX11_H
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverVertexData_DX11.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverVertexData_DX11.h
new file mode 100644 (file)
index 0000000..dd7cc84
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverVertexData_DX11.h
@@ -0,0 +1,63 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#include "BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h"
+#include "btSoftBodySolverBuffer_DX11.h"
+
+
+#ifndef BT_SOFT_BHODY_SOLVER_VERTEX_DATA_DX11_H
+#define BT_SOFT_BHODY_SOLVER_VERTEX_DATA_DX11_H
+
+class btSoftBodyLinkData;
+class btSoftBodyLinkData::LinkDescription;
+
+struct ID3D11Device;
+struct ID3D11DeviceContext;
+
+class btSoftBodyVertexDataDX11 : public btSoftBodyVertexData
+{
+protected:
+       bool                            m_onGPU;
+       ID3D11Device            *m_d3dDevice;
+       ID3D11DeviceContext *m_d3dDeviceContext;
+
+public:
+       btDX11Buffer<int>                                                                               m_dx11ClothIdentifier;
+       btDX11Buffer<Vectormath::Aos::Point3>                                   m_dx11VertexPosition;
+       btDX11Buffer<Vectormath::Aos::Point3>                                   m_dx11VertexPreviousPosition;
+       btDX11Buffer<Vectormath::Aos::Vector3>                          m_dx11VertexVelocity;
+       btDX11Buffer<Vectormath::Aos::Vector3>                          m_dx11VertexForceAccumulator;
+       btDX11Buffer<Vectormath::Aos::Vector3>                          m_dx11VertexNormal;
+       btDX11Buffer<float>                                                                     m_dx11VertexInverseMass;
+       btDX11Buffer<float>                                                                     m_dx11VertexArea;
+       btDX11Buffer<int>                                                                               m_dx11VertexTriangleCount;
+
+
+       //ID3D11Buffer*               readBackBuffer;
+
+public:
+       btSoftBodyVertexDataDX11( ID3D11Device *d3dDevice, ID3D11DeviceContext *d3dDeviceContext );
+       virtual ~btSoftBodyVertexDataDX11();
+
+       virtual bool onAccelerator();
+       virtual bool moveToAccelerator();
+
+       virtual bool moveFromAccelerator(bool bCopy = false, bool bCopyMinimum = true);
+};
+
+
+#endif // #ifndef BT_SOFT_BHODY_SOLVER_VERTEX_DATA_DX11_H
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11.cpp b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11.cpp
new file mode 100644 (file)
index 0000000..357c408
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11.cpp
@@ -0,0 +1,2236 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
+#include "vectormath/vmInclude.h"
+
+#include "btSoftBodySolver_DX11.h"
+#include "btSoftBodySolverVertexBuffer_DX11.h"
+#include "BulletSoftBody/btSoftBody.h"
+#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
+#include <stdio.h> //printf
+#define MSTRINGIFY(A) #A
+static char* PrepareLinksHLSLString = 
+#include "HLSL/PrepareLinks.hlsl"
+static char* UpdatePositionsFromVelocitiesHLSLString = 
+#include "HLSL/UpdatePositionsFromVelocities.hlsl"
+static char* SolvePositionsHLSLString = 
+#include "HLSL/SolvePositions.hlsl"
+static char* UpdateNodesHLSLString = 
+#include "HLSL/UpdateNodes.hlsl"
+static char* UpdatePositionsHLSLString = 
+#include "HLSL/UpdatePositions.hlsl"
+static char* UpdateConstantsHLSLString = 
+#include "HLSL/UpdateConstants.hlsl"
+static char* IntegrateHLSLString = 
+#include "HLSL/Integrate.hlsl"
+static char* ApplyForcesHLSLString = 
+#include "HLSL/ApplyForces.hlsl"
+static char* UpdateNormalsHLSLString = 
+#include "HLSL/UpdateNormals.hlsl"
+static char* OutputToVertexArrayHLSLString = 
+#include "HLSL/OutputToVertexArray.hlsl"
+static char* VSolveLinksHLSLString = 
+#include "HLSL/VSolveLinks.hlsl"
+static char* ComputeBoundsHLSLString = 
+#include "HLSL/ComputeBounds.hlsl"
+static char* SolveCollisionsAndUpdateVelocitiesHLSLString =
+#include "HLSL/SolveCollisionsAndUpdateVelocities.hlsl"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
+
+btSoftBodyLinkDataDX11::btSoftBodyLinkDataDX11( ID3D11Device *d3dDevice, ID3D11DeviceContext *d3dDeviceContext ) : 
+               m_dx11Links( d3dDevice, d3dDeviceContext, &m_links, false ),
+               m_dx11LinkStrength( d3dDevice, d3dDeviceContext, &m_linkStrength, false ),
+               m_dx11LinksMassLSC( d3dDevice, d3dDeviceContext, &m_linksMassLSC, false ),
+               m_dx11LinksRestLengthSquared( d3dDevice, d3dDeviceContext, &m_linksRestLengthSquared, false ),
+               m_dx11LinksCLength( d3dDevice, d3dDeviceContext, &m_linksCLength, false ),
+               m_dx11LinksLengthRatio( d3dDevice, d3dDeviceContext, &m_linksLengthRatio, false ),
+               m_dx11LinksRestLength( d3dDevice, d3dDeviceContext, &m_linksRestLength, false ),
+               m_dx11LinksMaterialLinearStiffnessCoefficient( d3dDevice, d3dDeviceContext, &m_linksMaterialLinearStiffnessCoefficient, false )
+{
+       m_d3dDevice = d3dDevice;
+       m_d3dDeviceContext = d3dDeviceContext;
+}
+
+btSoftBodyLinkDataDX11::~btSoftBodyLinkDataDX11()
+{
+}
+
+static Vectormath::Aos::Vector3 toVector3( const btVector3 &vec )
+{
+       Vectormath::Aos::Vector3 outVec( vec.getX(), vec.getY(), vec.getZ() );
+       return outVec;
+}
+
+void btSoftBodyLinkDataDX11::createLinks( int numLinks )
+{
+       int previousSize = m_links.size();
+       int newSize = previousSize + numLinks;
+
+       btSoftBodyLinkData::createLinks( numLinks );
+
+       // Resize the link addresses array as well
+       m_linkAddresses.resize( newSize );
+}
+
+void btSoftBodyLinkDataDX11::setLinkAt( const btSoftBodyLinkData::LinkDescription &link, int linkIndex )
+{
+       btSoftBodyLinkData::setLinkAt( link, linkIndex );
+
+       // Set the link index correctly for initialisation
+       m_linkAddresses[linkIndex] = linkIndex;
+}
+
+bool btSoftBodyLinkDataDX11::onAccelerator()
+{
+       return m_onGPU;
+}
+
+bool btSoftBodyLinkDataDX11::moveToAccelerator()
+{
+       bool success = true;
+       success = success && m_dx11Links.moveToGPU();
+       success = success && m_dx11LinkStrength.moveToGPU();
+       success = success && m_dx11LinksMassLSC.moveToGPU();
+       success = success && m_dx11LinksRestLengthSquared.moveToGPU();
+       success = success && m_dx11LinksCLength.moveToGPU();
+       success = success && m_dx11LinksLengthRatio.moveToGPU();
+       success = success && m_dx11LinksRestLength.moveToGPU();
+       success = success && m_dx11LinksMaterialLinearStiffnessCoefficient.moveToGPU();
+
+       if( success )
+               m_onGPU = true;
+
+       return success;
+}
+
+bool btSoftBodyLinkDataDX11::moveFromAccelerator()
+{
+       bool success = true;
+       success = success && m_dx11Links.moveFromGPU();
+       success = success && m_dx11LinkStrength.moveFromGPU();
+       success = success && m_dx11LinksMassLSC.moveFromGPU();
+       success = success && m_dx11LinksRestLengthSquared.moveFromGPU();
+       success = success && m_dx11LinksCLength.moveFromGPU();
+       success = success && m_dx11LinksLengthRatio.moveFromGPU();
+       success = success && m_dx11LinksRestLength.moveFromGPU();
+       success = success && m_dx11LinksMaterialLinearStiffnessCoefficient.moveFromGPU();
+
+       if( success )
+               m_onGPU = false;
+
+       return success;
+}
+
+void btSoftBodyLinkDataDX11::generateBatches()
+{
+       int numLinks = getNumLinks();
+
+       // Do the graph colouring here temporarily
+       btAlignedObjectArray< int > batchValues;
+       batchValues.resize( numLinks, 0 );
+
+       // Find the maximum vertex value internally for now
+       int maxVertex = 0;
+       for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex )
+       {
+               int vertex0 = getVertexPair(linkIndex).vertex0;
+               int vertex1 = getVertexPair(linkIndex).vertex1;
+               if( vertex0 > maxVertex )
+                       maxVertex = vertex0;
+               if( vertex1 > maxVertex )
+                       maxVertex = vertex1;
+       }
+       int numVertices = maxVertex + 1;
+
+       // Set of lists, one for each node, specifying which colours are connected
+       // to that node.
+       // No two edges into a node can share a colour.
+       btAlignedObjectArray< btAlignedObjectArray< int > > vertexConnectedColourLists;
+       vertexConnectedColourLists.resize(numVertices);
+
+
+
+       // Simple algorithm that chooses the lowest batch number
+       // that none of the links attached to either of the connected 
+       // nodes is in
+       for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex )
+       {                               
+               int linkLocation = m_linkAddresses[linkIndex];
+
+               int vertex0 = getVertexPair(linkLocation).vertex0;
+               int vertex1 = getVertexPair(linkLocation).vertex1;
+
+               // Get the two node colour lists
+               btAlignedObjectArray< int > &colourListVertex0( vertexConnectedColourLists[vertex0] );
+               btAlignedObjectArray< int > &colourListVertex1( vertexConnectedColourLists[vertex1] );
+
+               // Choose the minimum colour that is in neither list
+               int colour = 0;
+               while( colourListVertex0.findLinearSearch(colour) != colourListVertex0.size() || colourListVertex1.findLinearSearch(colour) != colourListVertex1.size()  )
+                       ++colour;
+               // i should now be the minimum colour in neither list
+               // Add to the two lists so that future edges don't share
+               // And store the colour against this edge
+
+               colourListVertex0.push_back(colour);
+               colourListVertex1.push_back(colour);
+               batchValues[linkIndex] = colour;
+       }
+
+       // Check the colour counts
+       btAlignedObjectArray< int > batchCounts;
+       for( int i = 0; i < numLinks; ++i )
+       {
+               int batch = batchValues[i];
+               if( batch >= batchCounts.size() )
+                       batchCounts.push_back(1);
+               else
+                       ++(batchCounts[batch]);
+       }
+
+       m_batchStartLengths.resize(batchCounts.size());
+       if( m_batchStartLengths.size() > 0 )
+       {
+               m_batchStartLengths[0] = BatchPair( 0, 0 );
+
+               int sum = 0;
+               for( int batchIndex = 0; batchIndex < batchCounts.size(); ++batchIndex )
+               {
+                       m_batchStartLengths[batchIndex].start = sum;
+                       m_batchStartLengths[batchIndex].length = batchCounts[batchIndex];
+                       sum += batchCounts[batchIndex];
+               }
+       }
+
+       /////////////////////////////
+       // Sort data based on batches
+
+       // Create source arrays by copying originals
+       btAlignedObjectArray<btSoftBodyLinkData::LinkNodePair>                          m_links_Backup(m_links);
+       btAlignedObjectArray<float>                                                                                     m_linkStrength_Backup(m_linkStrength);
+       btAlignedObjectArray<float>                                                                                     m_linksMassLSC_Backup(m_linksMassLSC);
+       btAlignedObjectArray<float>                                                                                     m_linksRestLengthSquared_Backup(m_linksRestLengthSquared);
+       btAlignedObjectArray<Vectormath::Aos::Vector3>                                          m_linksCLength_Backup(m_linksCLength);
+       btAlignedObjectArray<float>                                                                                     m_linksLengthRatio_Backup(m_linksLengthRatio);
+       btAlignedObjectArray<float>                                                                                     m_linksRestLength_Backup(m_linksRestLength);
+       btAlignedObjectArray<float>                                                                                     m_linksMaterialLinearStiffnessCoefficient_Backup(m_linksMaterialLinearStiffnessCoefficient);
+
+
+       for( int batch = 0; batch < batchCounts.size(); ++batch )
+               batchCounts[batch] = 0;
+
+       // Do sort as single pass into destination arrays       
+       for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex )
+       {
+               // To maintain locations run off the original link locations rather than the current position.
+               // It's not cache efficient, but as we run this rarely that should not matter.
+               // It's faster than searching the link location array for the current location and then updating it.
+               // The other alternative would be to unsort before resorting, but this is equivalent to doing that.
+               int linkLocation = m_linkAddresses[linkIndex];
+
+               // Obtain batch and calculate target location for the
+               // next element in that batch, incrementing the batch counter
+               // afterwards
+               int batch = batchValues[linkIndex];
+               int newLocation = m_batchStartLengths[batch].start + batchCounts[batch];
+
+               batchCounts[batch] = batchCounts[batch] + 1;
+               m_links[newLocation] = m_links_Backup[linkLocation];
+#if 1
+               m_linkStrength[newLocation] = m_linkStrength_Backup[linkLocation];
+               m_linksMassLSC[newLocation] = m_linksMassLSC_Backup[linkLocation];
+               m_linksRestLengthSquared[newLocation] = m_linksRestLengthSquared_Backup[linkLocation];
+               m_linksLengthRatio[newLocation] = m_linksLengthRatio_Backup[linkLocation];
+               m_linksRestLength[newLocation] = m_linksRestLength_Backup[linkLocation];
+               m_linksMaterialLinearStiffnessCoefficient[newLocation] = m_linksMaterialLinearStiffnessCoefficient_Backup[linkLocation];
+#endif
+               // Update the locations array to account for the moved entry
+               m_linkAddresses[linkIndex] = newLocation;
+       }
+} // void btSoftBodyLinkDataDX11::generateBatches()
+
+
+
+btSoftBodyVertexDataDX11::btSoftBodyVertexDataDX11( ID3D11Device *d3dDevice, ID3D11DeviceContext *d3dDeviceContext ) : 
+       m_dx11ClothIdentifier( d3dDevice, d3dDeviceContext, &m_clothIdentifier, false ),
+       m_dx11VertexPosition( d3dDevice, d3dDeviceContext, &m_vertexPosition, false ),
+       m_dx11VertexPreviousPosition( d3dDevice, d3dDeviceContext, &m_vertexPreviousPosition, false ),
+       m_dx11VertexVelocity( d3dDevice, d3dDeviceContext, &m_vertexVelocity, false ),
+       m_dx11VertexForceAccumulator( d3dDevice, d3dDeviceContext, &m_vertexForceAccumulator, false ),
+       m_dx11VertexNormal( d3dDevice, d3dDeviceContext, &m_vertexNormal, false ),
+       m_dx11VertexInverseMass( d3dDevice, d3dDeviceContext, &m_vertexInverseMass, false ),
+       m_dx11VertexArea( d3dDevice, d3dDeviceContext, &m_vertexArea, false ),
+       m_dx11VertexTriangleCount( d3dDevice, d3dDeviceContext, &m_vertexTriangleCount, false )
+{
+       m_d3dDevice = d3dDevice;
+       m_d3dDeviceContext = d3dDeviceContext;
+}
+
+btSoftBodyVertexDataDX11::~btSoftBodyVertexDataDX11()
+{
+
+}
+
+bool btSoftBodyVertexDataDX11::onAccelerator()
+{
+       return m_onGPU;
+}
+
+bool btSoftBodyVertexDataDX11::moveToAccelerator()
+{
+       bool success = true;
+       success = success && m_dx11ClothIdentifier.moveToGPU();
+       success = success && m_dx11VertexPosition.moveToGPU();
+       success = success && m_dx11VertexPreviousPosition.moveToGPU();
+       success = success && m_dx11VertexVelocity.moveToGPU();
+       success = success && m_dx11VertexForceAccumulator.moveToGPU();
+       success = success && m_dx11VertexNormal.moveToGPU();
+       success = success && m_dx11VertexInverseMass.moveToGPU();
+       success = success && m_dx11VertexArea.moveToGPU();
+       success = success && m_dx11VertexTriangleCount.moveToGPU();
+
+       if( success )
+               m_onGPU = true;
+
+       return success;
+}
+
+bool btSoftBodyVertexDataDX11::moveFromAccelerator(bool bCopy, bool bCopyMinimum)
+{
+       bool success = true;
+
+       if (!bCopy)
+       {
+               success = success && m_dx11ClothIdentifier.moveFromGPU();
+               success = success && m_dx11VertexPosition.moveFromGPU();
+               success = success && m_dx11VertexPreviousPosition.moveFromGPU();
+               success = success && m_dx11VertexVelocity.moveFromGPU();
+               success = success && m_dx11VertexForceAccumulator.moveFromGPU();
+               success = success && m_dx11VertexNormal.moveFromGPU();
+               success = success && m_dx11VertexInverseMass.moveFromGPU();
+               success = success && m_dx11VertexArea.moveFromGPU();
+               success = success && m_dx11VertexTriangleCount.moveFromGPU();
+       }
+       else
+       {
+               if (bCopyMinimum)
+               {
+                       success = success && m_dx11VertexPosition.copyFromGPU();
+                       success = success && m_dx11VertexNormal.copyFromGPU();
+               }
+               else
+               {
+                       success = success && m_dx11ClothIdentifier.copyFromGPU();
+                       success = success && m_dx11VertexPosition.copyFromGPU();
+                       success = success && m_dx11VertexPreviousPosition.copyFromGPU();
+                       success = success && m_dx11VertexVelocity.copyFromGPU();
+                       success = success && m_dx11VertexForceAccumulator.copyFromGPU();
+                       success = success && m_dx11VertexNormal.copyFromGPU();
+                       success = success && m_dx11VertexInverseMass.copyFromGPU();
+                       success = success && m_dx11VertexArea.copyFromGPU();
+                       success = success && m_dx11VertexTriangleCount.copyFromGPU();
+               }
+       }
+
+       if( success )
+               m_onGPU = true;
+
+       return success;
+}
+
+
+btSoftBodyTriangleDataDX11::btSoftBodyTriangleDataDX11( ID3D11Device *d3dDevice, ID3D11DeviceContext *d3dDeviceContext ) : 
+       m_dx11VertexIndices( d3dDevice, d3dDeviceContext, &m_vertexIndices, false ),
+       m_dx11Area( d3dDevice, d3dDeviceContext, &m_area, false ),
+       m_dx11Normal( d3dDevice, d3dDeviceContext, &m_normal, false )
+{
+       m_d3dDevice = d3dDevice;
+       m_d3dDeviceContext = d3dDeviceContext;
+}
+
+btSoftBodyTriangleDataDX11::~btSoftBodyTriangleDataDX11()
+{
+
+}
+
+
+/** Allocate enough space in all link-related arrays to fit numLinks links */
+void btSoftBodyTriangleDataDX11::createTriangles( int numTriangles )
+{
+       int previousSize = getNumTriangles();
+       int newSize = previousSize + numTriangles;
+
+       btSoftBodyTriangleData::createTriangles( numTriangles );
+
+       // Resize the link addresses array as well
+       m_triangleAddresses.resize( newSize );
+}
+
+/** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */
+void btSoftBodyTriangleDataDX11::setTriangleAt( const btSoftBodyTriangleData::TriangleDescription &triangle, int triangleIndex )
+{
+       btSoftBodyTriangleData::setTriangleAt( triangle, triangleIndex );
+
+       m_triangleAddresses[triangleIndex] = triangleIndex;
+}
+
+bool btSoftBodyTriangleDataDX11::onAccelerator()
+{
+       return m_onGPU;
+}
+
+bool btSoftBodyTriangleDataDX11::moveToAccelerator()
+{
+       bool success = true;
+       success = success && m_dx11VertexIndices.moveToGPU();
+       success = success && m_dx11Area.moveToGPU();
+       success = success && m_dx11Normal.moveToGPU();
+
+       if( success )
+               m_onGPU = true;
+
+       return success;
+}
+
+bool btSoftBodyTriangleDataDX11::moveFromAccelerator()
+{
+       bool success = true;
+       success = success && m_dx11VertexIndices.moveFromGPU();
+       success = success && m_dx11Area.moveFromGPU();
+       success = success && m_dx11Normal.moveFromGPU();
+
+       if( success )
+               m_onGPU = true;
+
+       return success;
+}
+
+/**
+ * Generate (and later update) the batching for the entire triangle set.
+ * This redoes a lot of work because it batches the entire set when each cloth is inserted.
+ * In theory we could delay it until just before we need the cloth.
+ * It's a one-off overhead, though, so that is a later optimisation.
+ */
+void btSoftBodyTriangleDataDX11::generateBatches()
+{
+       int numTriangles = getNumTriangles();
+       if( numTriangles == 0 )
+               return;
+
+       // Do the graph colouring here temporarily
+       btAlignedObjectArray< int > batchValues;
+       batchValues.resize( numTriangles );
+
+       // Find the maximum vertex value internally for now
+       int maxVertex = 0;
+       for( int triangleIndex = 0; triangleIndex < numTriangles; ++triangleIndex )
+       {
+               int vertex0 = getVertexSet(triangleIndex).vertex0;
+               int vertex1 = getVertexSet(triangleIndex).vertex1;
+               int vertex2 = getVertexSet(triangleIndex).vertex2;
+               
+               if( vertex0 > maxVertex )
+                       maxVertex = vertex0;
+               if( vertex1 > maxVertex )
+                       maxVertex = vertex1;
+               if( vertex2 > maxVertex )
+                       maxVertex = vertex2;
+       }
+       int numVertices = maxVertex + 1;
+
+       // Set of lists, one for each node, specifying which colours are connected
+       // to that node.
+       // No two edges into a node can share a colour.
+       btAlignedObjectArray< btAlignedObjectArray< int > > vertexConnectedColourLists;
+       vertexConnectedColourLists.resize(numVertices);
+
+
+       //std::cout << "\n";
+       // Simple algorithm that chooses the lowest batch number
+       // that none of the faces attached to either of the connected 
+       // nodes is in
+       for( int triangleIndex = 0; triangleIndex < numTriangles; ++triangleIndex )
+       {
+               // To maintain locations run off the original link locations rather than the current position.
+               // It's not cache efficient, but as we run this rarely that should not matter.
+               // It's faster than searching the link location array for the current location and then updating it.
+               // The other alternative would be to unsort before resorting, but this is equivalent to doing that.
+               int triangleLocation = m_triangleAddresses[triangleIndex];
+
+               int vertex0 = getVertexSet(triangleLocation).vertex0;
+               int vertex1 = getVertexSet(triangleLocation).vertex1;
+               int vertex2 = getVertexSet(triangleLocation).vertex2;
+
+               // Get the three node colour lists
+               btAlignedObjectArray< int > &colourListVertex0( vertexConnectedColourLists[vertex0] );
+               btAlignedObjectArray< int > &colourListVertex1( vertexConnectedColourLists[vertex1] );
+               btAlignedObjectArray< int > &colourListVertex2( vertexConnectedColourLists[vertex2] );
+
+               // Choose the minimum colour that is in none of the lists
+               int colour = 0;
+               while( 
+                       colourListVertex0.findLinearSearch(colour) != colourListVertex0.size() || 
+                       colourListVertex1.findLinearSearch(colour) != colourListVertex1.size() ||
+                       colourListVertex2.findLinearSearch(colour) != colourListVertex2.size() )
+               {
+                       ++colour;
+               }
+               // i should now be the minimum colour in neither list
+               // Add to the three lists so that future edges don't share
+               // And store the colour against this face
+               colourListVertex0.push_back(colour);
+               colourListVertex1.push_back(colour);
+               colourListVertex2.push_back(colour);
+
+               batchValues[triangleIndex] = colour;
+       }
+
+
+       // Check the colour counts
+       btAlignedObjectArray< int > batchCounts;
+       for( int i = 0; i < numTriangles; ++i )
+       {
+               int batch = batchValues[i];
+               if( batch >= batchCounts.size() )
+                       batchCounts.push_back(1);
+               else
+                       ++(batchCounts[batch]);
+       }
+
+
+       m_batchStartLengths.resize(batchCounts.size());
+       m_batchStartLengths[0] = BatchPair( 0, 0 );
+
+
+       int sum = 0;
+       for( int batchIndex = 0; batchIndex < batchCounts.size(); ++batchIndex )
+       {
+               m_batchStartLengths[batchIndex].start = sum;
+               m_batchStartLengths[batchIndex].length = batchCounts[batchIndex];
+               sum += batchCounts[batchIndex];
+       }
+       
+       /////////////////////////////
+       // Sort data based on batches
+       
+       // Create source arrays by copying originals
+       btAlignedObjectArray<btSoftBodyTriangleData::TriangleNodeSet>                                                   m_vertexIndices_Backup(m_vertexIndices);
+       btAlignedObjectArray<float>                                                                             m_area_Backup(m_area);
+       btAlignedObjectArray<Vectormath::Aos::Vector3>                                  m_normal_Backup(m_normal);
+
+
+       for( int batch = 0; batch < batchCounts.size(); ++batch )
+               batchCounts[batch] = 0;
+
+       // Do sort as single pass into destination arrays       
+       for( int triangleIndex = 0; triangleIndex < numTriangles; ++triangleIndex )
+       {
+               // To maintain locations run off the original link locations rather than the current position.
+               // It's not cache efficient, but as we run this rarely that should not matter.
+               // It's faster than searching the link location array for the current location and then updating it.
+               // The other alternative would be to unsort before resorting, but this is equivalent to doing that.
+               int triangleLocation = m_triangleAddresses[triangleIndex];
+
+               // Obtain batch and calculate target location for the
+               // next element in that batch, incrementing the batch counter
+               // afterwards
+               int batch = batchValues[triangleIndex];
+               int newLocation = m_batchStartLengths[batch].start + batchCounts[batch];
+
+               batchCounts[batch] = batchCounts[batch] + 1;
+               m_vertexIndices[newLocation] = m_vertexIndices_Backup[triangleLocation];
+               m_area[newLocation] = m_area_Backup[triangleLocation];
+               m_normal[newLocation] = m_normal_Backup[triangleLocation];
+
+               // Update the locations array to account for the moved entry
+               m_triangleAddresses[triangleIndex] = newLocation;
+       }
+} // btSoftBodyTriangleDataDX11::generateBatches
+
+
+
+
+
+
+
+
+
+
+
+
+btDX11SoftBodySolver::btDX11SoftBodySolver(ID3D11Device * dx11Device, ID3D11DeviceContext* dx11Context, DXFunctions::CompileFromMemoryFunc dx11CompileFromMemory) :
+       m_dx11Device( dx11Device ),
+       m_dx11Context( dx11Context ),
+       dxFunctions( m_dx11Device, m_dx11Context, dx11CompileFromMemory ),
+       m_linkData(m_dx11Device, m_dx11Context),
+       m_vertexData(m_dx11Device, m_dx11Context),
+       m_triangleData(m_dx11Device, m_dx11Context),
+       m_dx11PerClothAcceleration( m_dx11Device, m_dx11Context, &m_perClothAcceleration, true ),
+       m_dx11PerClothWindVelocity( m_dx11Device, m_dx11Context, &m_perClothWindVelocity, true ),
+       m_dx11PerClothDampingFactor( m_dx11Device, m_dx11Context, &m_perClothDampingFactor, true ),
+       m_dx11PerClothVelocityCorrectionCoefficient( m_dx11Device, m_dx11Context, &m_perClothVelocityCorrectionCoefficient, true ),
+       m_dx11PerClothLiftFactor( m_dx11Device, m_dx11Context, &m_perClothLiftFactor, true ),
+       m_dx11PerClothDragFactor( m_dx11Device, m_dx11Context, &m_perClothDragFactor, true ),
+       m_dx11PerClothMediumDensity( m_dx11Device, m_dx11Context, &m_perClothMediumDensity, true ),
+       m_dx11PerClothCollisionObjects( m_dx11Device, m_dx11Context, &m_perClothCollisionObjects, true ),
+       m_dx11CollisionObjectDetails( m_dx11Device, m_dx11Context, &m_collisionObjectDetails, true ),
+       m_dx11PerClothMinBounds( m_dx11Device, m_dx11Context, &m_perClothMinBounds, false ),
+       m_dx11PerClothMaxBounds( m_dx11Device, m_dx11Context, &m_perClothMaxBounds, false ),
+       m_dx11PerClothFriction( m_dx11Device, m_dx11Context, &m_perClothFriction, false ),
+       m_enableUpdateBounds(false)
+{
+       // Initial we will clearly need to update solver constants
+       // For now this is global for the cloths linked with this solver - we should probably make this body specific 
+       // for performance in future once we understand more clearly when constants need to be updated
+       m_updateSolverConstants = true;
+
+       m_shadersInitialized = false;
+}
+
+btDX11SoftBodySolver::~btDX11SoftBodySolver()
+{      
+       releaseKernels();
+}
+
+void btDX11SoftBodySolver::releaseKernels()
+{
+       
+       SAFE_RELEASE( prepareLinksKernel.kernel );
+       SAFE_RELEASE( prepareLinksKernel.constBuffer );
+       SAFE_RELEASE( integrateKernel.kernel );
+       SAFE_RELEASE( integrateKernel.constBuffer );
+       SAFE_RELEASE( integrateKernel.kernel );
+       SAFE_RELEASE( solvePositionsFromLinksKernel.constBuffer );
+       SAFE_RELEASE( solvePositionsFromLinksKernel.kernel );
+       SAFE_RELEASE( updatePositionsFromVelocitiesKernel.constBuffer );
+       SAFE_RELEASE( updatePositionsFromVelocitiesKernel.kernel );
+       SAFE_RELEASE( updateVelocitiesFromPositionsWithoutVelocitiesKernel.constBuffer );
+       SAFE_RELEASE( updateVelocitiesFromPositionsWithoutVelocitiesKernel.kernel );
+       SAFE_RELEASE( updateVelocitiesFromPositionsWithVelocitiesKernel.constBuffer );
+       SAFE_RELEASE( updateVelocitiesFromPositionsWithVelocitiesKernel.kernel );
+       SAFE_RELEASE( resetNormalsAndAreasKernel.constBuffer );
+       SAFE_RELEASE( resetNormalsAndAreasKernel.kernel );
+       SAFE_RELEASE( normalizeNormalsAndAreasKernel.constBuffer );
+       SAFE_RELEASE( normalizeNormalsAndAreasKernel.kernel );
+       SAFE_RELEASE( updateSoftBodiesKernel.constBuffer );
+       SAFE_RELEASE( updateSoftBodiesKernel.kernel );
+       SAFE_RELEASE( solveCollisionsAndUpdateVelocitiesKernel.kernel );
+       SAFE_RELEASE( solveCollisionsAndUpdateVelocitiesKernel.constBuffer );
+       SAFE_RELEASE( computeBoundsKernel.kernel );
+       SAFE_RELEASE( computeBoundsKernel.constBuffer );
+       SAFE_RELEASE( vSolveLinksKernel.kernel );
+       SAFE_RELEASE( vSolveLinksKernel.constBuffer );
+
+       SAFE_RELEASE( addVelocityKernel.constBuffer );
+       SAFE_RELEASE( addVelocityKernel.kernel );
+       SAFE_RELEASE( applyForcesKernel.constBuffer );
+       SAFE_RELEASE( applyForcesKernel.kernel );
+
+       m_shadersInitialized = false;
+}
+
+
+void btDX11SoftBodySolver::copyBackToSoftBodies(bool bMove)
+{
+       // Move the vertex data back to the host first
+       m_vertexData.moveFromAccelerator(!bMove);
+
+       // Loop over soft bodies, copying all the vertex positions back for each body in turn
+       for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex )
+       {
+               btAcceleratedSoftBodyInterface *softBodyInterface = m_softBodySet[ softBodyIndex ];
+               btSoftBody *softBody = softBodyInterface->getSoftBody();
+
+               int firstVertex = softBodyInterface->getFirstVertex();
+               int numVertices = softBodyInterface->getNumVertices();
+
+               // Copy vertices from solver back into the softbody
+               for( int vertex = 0; vertex < numVertices; ++vertex )
+               {
+                       using Vectormath::Aos::Point3;
+                       Point3 vertexPosition( getVertexData().getVertexPositions()[firstVertex + vertex] );
+
+                       softBody->m_nodes[vertex].m_x.setX( vertexPosition.getX() );
+                       softBody->m_nodes[vertex].m_x.setY( vertexPosition.getY() );
+                       softBody->m_nodes[vertex].m_x.setZ( vertexPosition.getZ() );
+
+                       softBody->m_nodes[vertex].m_n.setX( vertexPosition.getX() );
+                       softBody->m_nodes[vertex].m_n.setY( vertexPosition.getY() );
+                       softBody->m_nodes[vertex].m_n.setZ( vertexPosition.getZ() );
+               }
+       }
+} // btDX11SoftBodySolver::copyBackToSoftBodies
+
+
+void btDX11SoftBodySolver::optimize( btAlignedObjectArray< btSoftBody * > &softBodies, bool forceUpdate )
+{
+       if( forceUpdate || m_softBodySet.size() != softBodies.size() )
+       {
+               // Have a change in the soft body set so update, reloading all the data
+               getVertexData().clear();
+               getTriangleData().clear();
+               getLinkData().clear();
+               m_softBodySet.resize(0);
+
+
+               for( int softBodyIndex = 0; softBodyIndex < softBodies.size(); ++softBodyIndex )
+               {
+                       btSoftBody *softBody = softBodies[ softBodyIndex ];
+                       using Vectormath::Aos::Matrix3;
+                       using Vectormath::Aos::Point3;
+
+                       // Create SoftBody that will store the information within the solver
+                       btAcceleratedSoftBodyInterface *newSoftBody = new btAcceleratedSoftBodyInterface( softBody );
+                       m_softBodySet.push_back( newSoftBody );
+
+                       m_perClothAcceleration.push_back( toVector3(softBody->getWorldInfo()->m_gravity) );
+                       m_perClothDampingFactor.push_back(softBody->m_cfg.kDP);
+                       m_perClothVelocityCorrectionCoefficient.push_back( softBody->m_cfg.kVCF );
+                       m_perClothLiftFactor.push_back( softBody->m_cfg.kLF );
+                       m_perClothDragFactor.push_back( softBody->m_cfg.kDG );
+                       m_perClothMediumDensity.push_back(softBody->getWorldInfo()->air_density);
+                       // Simple init values. Actually we'll put 0 and -1 into them at the appropriate time
+                       m_perClothMinBounds.push_back( UIntVector3( 0, 0, 0 ) );
+                       m_perClothMaxBounds.push_back( UIntVector3( UINT_MAX, UINT_MAX, UINT_MAX ) );
+                       m_perClothFriction.push_back( softBody->getFriction() );
+                       m_perClothCollisionObjects.push_back( CollisionObjectIndices(-1, -1) );
+
+                       // Add space for new vertices and triangles in the default solver for now
+                       // TODO: Include space here for tearing too later
+                       int firstVertex = getVertexData().getNumVertices();
+                       int numVertices = softBody->m_nodes.size();
+                       int maxVertices = numVertices;
+                       // Allocate space for new vertices in all the vertex arrays
+                       getVertexData().createVertices( maxVertices, softBodyIndex );
+
+                       int firstTriangle = getTriangleData().getNumTriangles();
+                       int numTriangles = softBody->m_faces.size();
+                       int maxTriangles = numTriangles;
+                       getTriangleData().createTriangles( maxTriangles );
+
+                       // Copy vertices from softbody into the solver
+                       for( int vertex = 0; vertex < numVertices; ++vertex )
+                       {
+                               Point3 multPoint(softBody->m_nodes[vertex].m_x.getX(), softBody->m_nodes[vertex].m_x.getY(), softBody->m_nodes[vertex].m_x.getZ());
+                               btSoftBodyVertexData::VertexDescription desc;
+
+                               // TODO: Position in the softbody might be pre-transformed
+                               // or we may need to adapt for the pose.
+                               //desc.setPosition( cloth.getMeshTransform()*multPoint );
+                               desc.setPosition( multPoint );
+
+                               float vertexInverseMass = softBody->m_nodes[vertex].m_im;
+                               desc.setInverseMass(vertexInverseMass);
+                               getVertexData().setVertexAt( desc, firstVertex + vertex );
+                       }
+
+                       // Copy triangles similarly
+                       // We're assuming here that vertex indices are based on the firstVertex rather than the entire scene
+                       for( int triangle = 0; triangle < numTriangles; ++triangle )
+                       {
+                               // Note that large array storage is relative to the array not to the cloth
+                               // So we need to add firstVertex to each value
+                               int vertexIndex0 = (softBody->m_faces[triangle].m_n[0] - &(softBody->m_nodes[0]));
+                               int vertexIndex1 = (softBody->m_faces[triangle].m_n[1] - &(softBody->m_nodes[0]));
+                               int vertexIndex2 = (softBody->m_faces[triangle].m_n[2] - &(softBody->m_nodes[0]));
+                               btSoftBodyTriangleData::TriangleDescription newTriangle(vertexIndex0 + firstVertex, vertexIndex1 + firstVertex, vertexIndex2 + firstVertex);
+                               getTriangleData().setTriangleAt( newTriangle, firstTriangle + triangle );
+                               
+                               // Increase vertex triangle counts for this triangle            
+                               getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex0)++;
+                               getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex1)++;
+                               getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex2)++;
+                       }
+
+                       int firstLink = getLinkData().getNumLinks();
+                       int numLinks = softBody->m_links.size();
+                       int maxLinks = numLinks;
+                       
+                       // Allocate space for the links
+                       getLinkData().createLinks( numLinks );
+
+                       // Add the links
+                       for( int link = 0; link < numLinks; ++link )
+                       {
+                               int vertexIndex0 = softBody->m_links[link].m_n[0] - &(softBody->m_nodes[0]);
+                               int vertexIndex1 = softBody->m_links[link].m_n[1] - &(softBody->m_nodes[0]);
+
+                               btSoftBodyLinkData::LinkDescription newLink(vertexIndex0 + firstVertex, vertexIndex1 + firstVertex, softBody->m_links[link].m_material->m_kLST);
+                               newLink.setLinkStrength(1.f);
+                               getLinkData().setLinkAt(newLink, firstLink + link);
+                       }
+                       
+                       newSoftBody->setFirstVertex( firstVertex );
+                       newSoftBody->setFirstTriangle( firstTriangle );
+                       newSoftBody->setNumVertices( numVertices );
+                       newSoftBody->setMaxVertices( maxVertices );
+                       newSoftBody->setNumTriangles( numTriangles );
+                       newSoftBody->setMaxTriangles( maxTriangles );
+                       newSoftBody->setFirstLink( firstLink );
+                       newSoftBody->setNumLinks( numLinks );
+               }
+
+
+
+               updateConstants(0.f);
+
+
+               m_linkData.generateBatches();           
+               m_triangleData.generateBatches();
+       }
+}
+
+
+btSoftBodyLinkData &btDX11SoftBodySolver::getLinkData()
+{
+       // TODO: Consider setting link data to "changed" here
+       return m_linkData;
+}
+
+btSoftBodyVertexData &btDX11SoftBodySolver::getVertexData()
+{
+       // TODO: Consider setting vertex data to "changed" here
+       return m_vertexData;
+}
+
+btSoftBodyTriangleData &btDX11SoftBodySolver::getTriangleData()
+{
+       // TODO: Consider setting triangle data to "changed" here
+       return m_triangleData;
+}
+
+bool btDX11SoftBodySolver::checkInitialized()
+{
+       if( !m_shadersInitialized )
+               if( buildShaders() )
+                       m_shadersInitialized = true;
+
+       return m_shadersInitialized;
+}
+
+void btDX11SoftBodySolver::resetNormalsAndAreas( int numVertices )
+{
+       // No need to batch link solver, it is entirely parallel
+       // Copy kernel parameters to GPU
+       UpdateSoftBodiesCB constBuffer;
+       
+       constBuffer.numNodes = numVertices;
+       constBuffer.epsilon = FLT_EPSILON;
+       
+       // Todo: factor this out. Number of nodes is static and sdt might be, too, we can update this just once on setup
+       D3D11_MAPPED_SUBRESOURCE MappedResource = {0};
+       m_dx11Context->Map( integrateKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource );
+       memcpy( MappedResource.pData, &constBuffer, sizeof(UpdateSoftBodiesCB) );       
+       m_dx11Context->Unmap( integrateKernel.constBuffer, 0 );
+       m_dx11Context->CSSetConstantBuffers( 0, 1, &integrateKernel.constBuffer );
+
+       // Set resources and dispatch
+       m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_vertexData.m_dx11VertexNormal.getUAV()), NULL );
+       m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &(m_vertexData.m_dx11VertexArea.getUAV()), NULL );
+
+       // Execute the kernel
+       m_dx11Context->CSSetShader( resetNormalsAndAreasKernel.kernel, NULL, 0 );
+
+       int     numBlocks = (constBuffer.numNodes + (128-1)) / 128;
+       m_dx11Context->Dispatch(numBlocks, 1, 1 );
+
+       {
+               // Tidy up 
+               ID3D11UnorderedAccessView* pUAViewNULL = NULL;
+               m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL );
+               m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &pUAViewNULL, NULL );
+
+               ID3D11Buffer *pBufferNull = NULL;
+               m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull );
+       }       
+} // btDX11SoftBodySolver::resetNormalsAndAreas
+
+void btDX11SoftBodySolver::normalizeNormalsAndAreas( int numVertices )
+{
+       // No need to batch link solver, it is entirely parallel
+       // Copy kernel parameters to GPU
+       UpdateSoftBodiesCB constBuffer;
+       
+       constBuffer.numNodes = numVertices;
+       constBuffer.epsilon = FLT_EPSILON;
+       
+       // Todo: factor this out. Number of nodes is static and sdt might be, too, we can update this just once on setup
+       D3D11_MAPPED_SUBRESOURCE MappedResource = {0};
+       m_dx11Context->Map( integrateKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource );
+       memcpy( MappedResource.pData, &constBuffer, sizeof(UpdateSoftBodiesCB) );       
+       m_dx11Context->Unmap( integrateKernel.constBuffer, 0 );
+       m_dx11Context->CSSetConstantBuffers( 0, 1, &integrateKernel.constBuffer );
+
+       // Set resources and dispatch   
+       m_dx11Context->CSSetShaderResources( 2, 1, &(m_vertexData.m_dx11VertexTriangleCount.getSRV()) );
+
+       m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_vertexData.m_dx11VertexNormal.getUAV()), NULL );
+       m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &(m_vertexData.m_dx11VertexArea.getUAV()), NULL );
+
+       // Execute the kernel
+       m_dx11Context->CSSetShader( normalizeNormalsAndAreasKernel.kernel, NULL, 0 );
+
+       int     numBlocks = (constBuffer.numNodes + (128-1)) / 128;
+       m_dx11Context->Dispatch(numBlocks, 1, 1 );
+
+       {
+               // Tidy up 
+               ID3D11ShaderResourceView* pViewNULL = NULL;
+               m_dx11Context->CSSetShaderResources( 2, 1, &pViewNULL );
+
+               ID3D11UnorderedAccessView* pUAViewNULL = NULL;
+               m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL );
+               m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &pUAViewNULL, NULL );
+
+               ID3D11Buffer *pBufferNull = NULL;
+               m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull );
+       }       
+} // btDX11SoftBodySolver::normalizeNormalsAndAreas
+
+void btDX11SoftBodySolver::executeUpdateSoftBodies( int firstTriangle, int numTriangles )
+{
+       // No need to batch link solver, it is entirely parallel
+       // Copy kernel parameters to GPU
+       UpdateSoftBodiesCB constBuffer;
+       
+       constBuffer.startFace = firstTriangle;
+       constBuffer.numFaces = numTriangles;
+       
+       // Todo: factor this out. Number of nodes is static and sdt might be, too, we can update this just once on setup
+       D3D11_MAPPED_SUBRESOURCE MappedResource = {0};
+       m_dx11Context->Map( updateSoftBodiesKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource );
+       memcpy( MappedResource.pData, &constBuffer, sizeof(UpdateSoftBodiesCB) );       
+       m_dx11Context->Unmap( updateSoftBodiesKernel.constBuffer, 0 );
+       m_dx11Context->CSSetConstantBuffers( 0, 1, &updateSoftBodiesKernel.constBuffer );
+
+       // Set resources and dispatch   
+       m_dx11Context->CSSetShaderResources( 0, 1, &(m_triangleData.m_dx11VertexIndices.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 1, 1, &(m_vertexData.m_dx11VertexPosition.getSRV()) );
+
+       m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_vertexData.m_dx11VertexNormal.getUAV()), NULL );
+       m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &(m_vertexData.m_dx11VertexArea.getUAV()), NULL );
+       m_dx11Context->CSSetUnorderedAccessViews( 2, 1, &(m_triangleData.m_dx11Normal.getUAV()), NULL );
+       m_dx11Context->CSSetUnorderedAccessViews( 3, 1, &(m_triangleData.m_dx11Area.getUAV()), NULL );
+
+       // Execute the kernel
+       m_dx11Context->CSSetShader( updateSoftBodiesKernel.kernel, NULL, 0 );
+
+       int     numBlocks = (numTriangles + (128-1)) / 128;
+       m_dx11Context->Dispatch(numBlocks, 1, 1 );
+
+       {
+               // Tidy up 
+               ID3D11ShaderResourceView* pViewNULL = NULL;
+               m_dx11Context->CSSetShaderResources( 4, 1, &pViewNULL );
+
+               ID3D11UnorderedAccessView* pUAViewNULL = NULL;
+               m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL );
+               m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &pUAViewNULL, NULL );
+
+               ID3D11Buffer *pBufferNull = NULL;
+               m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull );
+       }       
+} // btDX11SoftBodySolver::executeUpdateSoftBodies
+
+void btDX11SoftBodySolver::updateSoftBodies()
+{
+       using namespace Vectormath::Aos;
+
+
+       int numVertices = m_vertexData.getNumVertices();
+       int numTriangles = m_triangleData.getNumTriangles();
+
+       // Ensure data is on accelerator
+       m_vertexData.moveToAccelerator();
+       m_triangleData.moveToAccelerator();
+
+       resetNormalsAndAreas( numVertices );
+
+
+       // Go through triangle batches so updates occur correctly
+       for( int batchIndex = 0; batchIndex < m_triangleData.m_batchStartLengths.size(); ++batchIndex )
+       {
+
+               int startTriangle = m_triangleData.m_batchStartLengths[batchIndex].start;
+               int numTriangles = m_triangleData.m_batchStartLengths[batchIndex].length;
+
+               executeUpdateSoftBodies( startTriangle, numTriangles );
+       }
+
+
+       normalizeNormalsAndAreas( numVertices );
+       
+
+} // btDX11SoftBodySolver::updateSoftBodies
+
+
+Vectormath::Aos::Vector3 btDX11SoftBodySolver::ProjectOnAxis( const Vectormath::Aos::Vector3 &v, const Vectormath::Aos::Vector3 &a )
+{
+       return a*Vectormath::Aos::dot(v, a);
+}
+
+void btDX11SoftBodySolver::ApplyClampedForce( float solverdt, const Vectormath::Aos::Vector3 &force, const Vectormath::Aos::Vector3 &vertexVelocity, float inverseMass, Vectormath::Aos::Vector3 &vertexForce )
+{
+       float dtInverseMass = solverdt*inverseMass;
+       if( Vectormath::Aos::lengthSqr(force * dtInverseMass) > Vectormath::Aos::lengthSqr(vertexVelocity) )
+       {
+               vertexForce -= ProjectOnAxis( vertexVelocity, normalize( force ) )/dtInverseMass;
+       } else {
+               vertexForce += force;
+       }
+}
+
+void btDX11SoftBodySolver::applyForces( float solverdt )
+{              
+       using namespace Vectormath::Aos;
+
+
+       // Ensure data is on accelerator
+       m_vertexData.moveToAccelerator();
+       m_dx11PerClothAcceleration.moveToGPU();
+       m_dx11PerClothLiftFactor.moveToGPU();
+       m_dx11PerClothDragFactor.moveToGPU();
+       m_dx11PerClothMediumDensity.moveToGPU();
+       m_dx11PerClothWindVelocity.moveToGPU();
+
+       // No need to batch link solver, it is entirely parallel
+       // Copy kernel parameters to GPU
+       ApplyForcesCB constBuffer;
+       
+       constBuffer.numNodes = m_vertexData.getNumVertices();
+       constBuffer.solverdt = solverdt;
+       constBuffer.epsilon = FLT_EPSILON;
+       
+       // Todo: factor this out. Number of nodes is static and sdt might be, too, we can update this just once on setup
+       D3D11_MAPPED_SUBRESOURCE MappedResource = {0};
+       m_dx11Context->Map( integrateKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource );
+       memcpy( MappedResource.pData, &constBuffer, sizeof(ApplyForcesCB) );    
+       m_dx11Context->Unmap( integrateKernel.constBuffer, 0 );
+       m_dx11Context->CSSetConstantBuffers( 0, 1, &integrateKernel.constBuffer );
+
+       // Set resources and dispatch   
+       m_dx11Context->CSSetShaderResources( 0, 1, &(m_vertexData.m_dx11ClothIdentifier.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 1, 1, &(m_vertexData.m_dx11VertexNormal.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 2, 1, &(m_vertexData.m_dx11VertexArea.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 3, 1, &(m_vertexData.m_dx11VertexInverseMass.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 4, 1, &(m_dx11PerClothLiftFactor.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 5, 1, &(m_dx11PerClothDragFactor.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 6, 1, &(m_dx11PerClothWindVelocity.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 7, 1, &(m_dx11PerClothAcceleration.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 8, 1, &(m_dx11PerClothMediumDensity.getSRV()) );
+
+       m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_vertexData.m_dx11VertexForceAccumulator.getUAV()), NULL );
+       m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &(m_vertexData.m_dx11VertexVelocity.getUAV()), NULL );
+
+       // Execute the kernel
+       m_dx11Context->CSSetShader( applyForcesKernel.kernel, NULL, 0 );
+
+       int     numBlocks = (constBuffer.numNodes + (128-1)) / 128;
+       m_dx11Context->Dispatch(numBlocks, 1, 1 );
+
+       {
+               // Tidy up 
+               ID3D11ShaderResourceView* pViewNULL = NULL;
+               m_dx11Context->CSSetShaderResources( 0, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 1, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 2, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 3, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 4, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 5, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 6, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 7, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 8, 1, &pViewNULL );
+
+               ID3D11UnorderedAccessView* pUAViewNULL = NULL;
+               m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL );
+               m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &pUAViewNULL, NULL );
+
+               ID3D11Buffer *pBufferNull = NULL;
+               m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull );
+       }       
+} // btDX11SoftBodySolver::applyForces
+
+/**
+ * Integrate motion on the solver.
+ */
+void btDX11SoftBodySolver::integrate( float solverdt )
+{
+       // TEMPORARY COPIES
+       m_vertexData.moveToAccelerator();
+
+       // No need to batch link solver, it is entirely parallel
+       // Copy kernel parameters to GPU
+       IntegrateCB constBuffer;
+       
+       constBuffer.numNodes = m_vertexData.getNumVertices();
+       constBuffer.solverdt = solverdt;
+       
+       // Todo: factor this out. Number of nodes is static and sdt might be, too, we can update this just once on setup
+       D3D11_MAPPED_SUBRESOURCE MappedResource = {0};
+       m_dx11Context->Map( integrateKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource );
+       memcpy( MappedResource.pData, &constBuffer, sizeof(IntegrateCB) );      
+       m_dx11Context->Unmap( integrateKernel.constBuffer, 0 );
+       m_dx11Context->CSSetConstantBuffers( 0, 1, &integrateKernel.constBuffer );
+
+       // Set resources and dispatch
+       m_dx11Context->CSSetShaderResources( 0, 1, &(m_vertexData.m_dx11VertexInverseMass.getSRV()) );
+
+       m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_vertexData.m_dx11VertexPosition.getUAV()), NULL );
+       m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &(m_vertexData.m_dx11VertexVelocity.getUAV()), NULL );
+       m_dx11Context->CSSetUnorderedAccessViews( 2, 1, &(m_vertexData.m_dx11VertexPreviousPosition.getUAV()), NULL );
+       m_dx11Context->CSSetUnorderedAccessViews( 3, 1, &(m_vertexData.m_dx11VertexForceAccumulator.getUAV()), NULL );
+
+       // Execute the kernel
+       m_dx11Context->CSSetShader( integrateKernel.kernel, NULL, 0 );
+
+       int     numBlocks = (constBuffer.numNodes + (128-1)) / 128;
+       m_dx11Context->Dispatch(numBlocks, 1, 1 );
+
+       {
+               // Tidy up 
+               ID3D11ShaderResourceView* pViewNULL = NULL;
+               m_dx11Context->CSSetShaderResources( 0, 1, &pViewNULL );
+
+               ID3D11UnorderedAccessView* pUAViewNULL = NULL;
+               m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL );
+               m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &pUAViewNULL, NULL );
+               m_dx11Context->CSSetUnorderedAccessViews( 2, 1, &pUAViewNULL, NULL );
+               m_dx11Context->CSSetUnorderedAccessViews( 3, 1, &pUAViewNULL, NULL );
+
+               ID3D11Buffer *pBufferNull = NULL;
+               m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull );
+       }       
+} // btDX11SoftBodySolver::integrate
+
+float btDX11SoftBodySolver::computeTriangleArea( 
+       const Vectormath::Aos::Point3 &vertex0,
+       const Vectormath::Aos::Point3 &vertex1,
+       const Vectormath::Aos::Point3 &vertex2 )
+{
+       Vectormath::Aos::Vector3 a = vertex1 - vertex0;
+       Vectormath::Aos::Vector3 b = vertex2 - vertex0;
+       Vectormath::Aos::Vector3 crossProduct = cross(a, b);
+       float area = length( crossProduct );
+       return area;
+} // btDX11SoftBodySolver::computeTriangleArea
+
+
+void btDX11SoftBodySolver::updateBounds()
+{      
+       using Vectormath::Aos::Point3;
+       // Interpretation structure for float and int
+       
+       struct FPRep {
+               unsigned int mantissa  : 23;
+               unsigned int exponent : 8;
+               unsigned int sign    : 1;
+       };
+       union FloatAsInt
+       {
+               float floatValue;
+               int intValue;
+               unsigned int uintValue;
+               FPRep fpRep;
+       };
+
+       
+       // Update bounds array to min and max int values to allow easy atomics
+       for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex )
+       {
+               m_perClothMinBounds[softBodyIndex] = UIntVector3( UINT_MAX, UINT_MAX, UINT_MAX );
+               m_perClothMaxBounds[softBodyIndex] = UIntVector3( 0, 0, 0 );
+       }
+       
+       m_dx11PerClothMinBounds.moveToGPU();
+       m_dx11PerClothMaxBounds.moveToGPU();
+
+
+       computeBounds( );
+
+
+       m_dx11PerClothMinBounds.moveFromGPU();
+       m_dx11PerClothMaxBounds.moveFromGPU();
+
+
+       
+       for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex )
+       {
+               UIntVector3 minBoundUInt = m_perClothMinBounds[softBodyIndex];
+               UIntVector3 maxBoundUInt = m_perClothMaxBounds[softBodyIndex];
+                               
+               // Convert back to float
+               FloatAsInt fai;
+
+               btVector3 minBound;
+               fai.uintValue = minBoundUInt.x;
+           fai.uintValue ^= (((fai.uintValue >> 31) - 1) | 0x80000000);
+               minBound.setX( fai.floatValue );
+               fai.uintValue = minBoundUInt.y;
+               fai.uintValue ^= (((fai.uintValue >> 31) - 1) | 0x80000000);
+               minBound.setY( fai.floatValue );
+               fai.uintValue = minBoundUInt.z;
+               fai.uintValue ^= (((fai.uintValue >> 31) - 1) | 0x80000000);
+               minBound.setZ( fai.floatValue );
+
+               btVector3 maxBound;
+               fai.uintValue = maxBoundUInt.x;
+               fai.uintValue ^= (((fai.uintValue >> 31) - 1) | 0x80000000);
+               maxBound.setX( fai.floatValue );
+               fai.uintValue = maxBoundUInt.y;
+               fai.uintValue ^= (((fai.uintValue >> 31) - 1) | 0x80000000);
+               maxBound.setY( fai.floatValue );
+               fai.uintValue = maxBoundUInt.z;
+               fai.uintValue ^= (((fai.uintValue >> 31) - 1) | 0x80000000);
+               maxBound.setZ( fai.floatValue );
+               
+               // And finally assign to the soft body
+               m_softBodySet[softBodyIndex]->updateBounds( minBound, maxBound );
+       }
+}
+
+void btDX11SoftBodySolver::updateConstants( float timeStep )
+{
+       using namespace Vectormath::Aos;
+
+       if( m_updateSolverConstants )
+       {
+               m_updateSolverConstants = false;
+
+               // Will have to redo this if we change the structure (tear, maybe) or various other possible changes
+
+               // Initialise link constants
+               const int numLinks = m_linkData.getNumLinks();
+               for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex )
+               {
+                       btSoftBodyLinkData::LinkNodePair &vertices( m_linkData.getVertexPair(linkIndex) );
+                       m_linkData.getRestLength(linkIndex) = length((m_vertexData.getPosition( vertices.vertex0 ) - m_vertexData.getPosition( vertices.vertex1 )));
+                       float invMass0 = m_vertexData.getInverseMass(vertices.vertex0);
+                       float invMass1 = m_vertexData.getInverseMass(vertices.vertex1);
+                       float linearStiffness = m_linkData.getLinearStiffnessCoefficient(linkIndex);
+                       float massLSC = (invMass0 + invMass1)/linearStiffness;
+                       m_linkData.getMassLSC(linkIndex) = massLSC;
+                       float restLength = m_linkData.getRestLength(linkIndex);
+                       float restLengthSquared = restLength*restLength;
+                       m_linkData.getRestLengthSquared(linkIndex) = restLengthSquared;
+               }
+       }
+} // btDX11SoftBodySolver::updateConstants
+
+/**
+ * Sort the collision object details array and generate indexing into it for the per-cloth collision object array.
+ */
+void btDX11SoftBodySolver::prepareCollisionConstraints()
+{
+       // First do a simple sort on the collision objects
+       btAlignedObjectArray<int> numObjectsPerClothPrefixSum;
+       btAlignedObjectArray<int> numObjectsPerCloth;
+       numObjectsPerCloth.resize( m_softBodySet.size(), 0 );
+       numObjectsPerClothPrefixSum.resize( m_softBodySet.size(), 0 );
+
+
+       class QuickSortCompare
+       {
+               public:
+
+               bool operator() ( const CollisionShapeDescription& a, const CollisionShapeDescription& b ) const
+               {
+                       return ( a.softBodyIdentifier < b.softBodyIdentifier );
+               }
+       };
+
+       QuickSortCompare comparator;
+       m_collisionObjectDetails.quickSort( comparator );
+
+       // Generating indexing for perClothCollisionObjects
+       // First clear the previous values with the "no collision object for cloth" constant
+       for( int clothIndex = 0; clothIndex < m_perClothCollisionObjects.size(); ++clothIndex )
+       {
+               m_perClothCollisionObjects[clothIndex].firstObject = -1;
+               m_perClothCollisionObjects[clothIndex].endObject = -1;
+       }
+       int currentCloth = 0;
+       int startIndex = 0;
+       for( int collisionObject = 0; collisionObject < m_collisionObjectDetails.size(); ++collisionObject )
+       {
+               int nextCloth = m_collisionObjectDetails[collisionObject].softBodyIdentifier;
+               if( nextCloth != currentCloth )
+               {       
+                       // Changed cloth in the array
+                       // Set the end index and the range is what we need for currentCloth
+                       m_perClothCollisionObjects[currentCloth].firstObject = startIndex;
+                       m_perClothCollisionObjects[currentCloth].endObject = collisionObject;
+                       currentCloth = nextCloth;
+                       startIndex = collisionObject;
+               }
+       }
+
+       // And update last cloth        
+       m_perClothCollisionObjects[currentCloth].firstObject = startIndex;
+       m_perClothCollisionObjects[currentCloth].endObject =  m_collisionObjectDetails.size();
+       
+} // btDX11SoftBodySolver::prepareCollisionConstraints
+
+
+void btDX11SoftBodySolver::solveConstraints( float solverdt )
+{
+
+       //std::cerr << "'GPU' solve constraints\n";
+       using Vectormath::Aos::Vector3;
+       using Vectormath::Aos::Point3;
+       using Vectormath::Aos::lengthSqr;
+       using Vectormath::Aos::dot;
+
+       // Prepare links
+       int numLinks = m_linkData.getNumLinks();
+       int numVertices = m_vertexData.getNumVertices();
+
+       float kst = 1.f;
+       float ti = 0.f;
+
+
+       m_dx11PerClothDampingFactor.moveToGPU();
+       m_dx11PerClothVelocityCorrectionCoefficient.moveToGPU();
+
+
+       // Ensure data is on accelerator
+       m_linkData.moveToAccelerator();
+       m_vertexData.moveToAccelerator();
+
+
+       prepareLinks(); 
+
+       for( int iteration = 0; iteration < m_numberOfVelocityIterations ; ++iteration )
+       {
+               for( int i = 0; i < m_linkData.m_batchStartLengths.size(); ++i )
+               {
+                       int startLink = m_linkData.m_batchStartLengths[i].start;
+                       int numLinks = m_linkData.m_batchStartLengths[i].length;
+
+                       solveLinksForVelocity( startLink, numLinks, kst );
+               }
+       }
+
+       
+       prepareCollisionConstraints();
+
+       // Compute new positions from velocity
+       // Also update the previous position so that our position computation is now based on the new position from the velocity solution
+       // rather than based directly on the original positions
+       if( m_numberOfVelocityIterations > 0 )
+       {
+               updateVelocitiesFromPositionsWithVelocities( 1.f/solverdt );
+       } else {
+               updateVelocitiesFromPositionsWithoutVelocities( 1.f/solverdt );
+       }
+
+
+       // Solve drift
+       for( int iteration = 0; iteration < m_numberOfPositionIterations ; ++iteration )
+       {
+               for( int i = 0; i < m_linkData.m_batchStartLengths.size(); ++i )
+               {
+                       int startLink = m_linkData.m_batchStartLengths[i].start;
+                       int numLinks = m_linkData.m_batchStartLengths[i].length;
+
+                       solveLinksForPosition( startLink, numLinks, kst, ti );
+               }
+               
+       } // for( int iteration = 0; iteration < m_numberOfPositionIterations ; ++iteration )
+
+       // At this point assume that the force array is blank - we will overwrite it
+       solveCollisionsAndUpdateVelocities( 1.f/solverdt );
+} // btDX11SoftBodySolver::solveConstraints
+
+
+
+
+//////////////////////////////////////
+// Kernel dispatches
+void btDX11SoftBodySolver::prepareLinks()
+{
+       // No need to batch link solver, it is entirely parallel
+       // Copy kernel parameters to GPU
+       PrepareLinksCB constBuffer;
+       
+       constBuffer.numLinks = m_linkData.getNumLinks();
+       
+       D3D11_MAPPED_SUBRESOURCE MappedResource = {0};
+       m_dx11Context->Map( prepareLinksKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource );
+       memcpy( MappedResource.pData, &constBuffer, sizeof(PrepareLinksCB) );   
+       m_dx11Context->Unmap( prepareLinksKernel.constBuffer, 0 );
+       m_dx11Context->CSSetConstantBuffers( 0, 1, &prepareLinksKernel.constBuffer );
+
+       // Set resources and dispatch
+       m_dx11Context->CSSetShaderResources( 0, 1, &(m_linkData.m_dx11Links.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 1, 1, &(m_linkData.m_dx11LinksMassLSC.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 2, 1, &(m_vertexData.m_dx11VertexPreviousPosition.getSRV()) );
+
+       m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_linkData.m_dx11LinksLengthRatio.getUAV()), NULL );
+       m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &(m_linkData.m_dx11LinksCLength.getUAV()), NULL );
+
+       // Execute the kernel
+       m_dx11Context->CSSetShader( prepareLinksKernel.kernel, NULL, 0 );
+
+       int     numBlocks = (constBuffer.numLinks + (128-1)) / 128;
+       m_dx11Context->Dispatch(numBlocks , 1, 1 );
+
+       {
+               // Tidy up 
+               ID3D11ShaderResourceView* pViewNULL = NULL;
+               m_dx11Context->CSSetShaderResources( 0, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 1, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 2, 1, &pViewNULL );
+
+               ID3D11UnorderedAccessView* pUAViewNULL = NULL;
+               m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL );
+               m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &pUAViewNULL, NULL );
+               
+               ID3D11Buffer *pBufferNull = NULL;
+               m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull );
+       }
+} // btDX11SoftBodySolver::prepareLinks
+
+
+void btDX11SoftBodySolver::updatePositionsFromVelocities( float solverdt )
+{
+       // No need to batch link solver, it is entirely parallel
+       // Copy kernel parameters to GPU
+       UpdatePositionsFromVelocitiesCB constBuffer;
+       
+       constBuffer.numNodes = m_vertexData.getNumVertices();
+       constBuffer.solverSDT = solverdt;
+       
+       // Todo: factor this out. Number of nodes is static and sdt might be, too, we can update this just once on setup
+       D3D11_MAPPED_SUBRESOURCE MappedResource = {0};
+       m_dx11Context->Map( updatePositionsFromVelocitiesKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource );
+       memcpy( MappedResource.pData, &constBuffer, sizeof(UpdatePositionsFromVelocitiesCB) );  
+       m_dx11Context->Unmap( updatePositionsFromVelocitiesKernel.constBuffer, 0 );
+       m_dx11Context->CSSetConstantBuffers( 0, 1, &updatePositionsFromVelocitiesKernel.constBuffer );
+
+       // Set resources and dispatch                   
+       m_dx11Context->CSSetShaderResources( 0, 1, &(m_vertexData.m_dx11VertexVelocity.getSRV()) );
+
+       m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_vertexData.m_dx11VertexPreviousPosition.getUAV()), NULL );
+       m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &(m_vertexData.m_dx11VertexPosition.getUAV()), NULL );
+
+       // Execute the kernel
+       m_dx11Context->CSSetShader( updatePositionsFromVelocitiesKernel.kernel, NULL, 0 );
+
+       int     numBlocks = (constBuffer.numNodes + (128-1)) / 128;
+       m_dx11Context->Dispatch(numBlocks, 1, 1 );
+
+       {
+               // Tidy up 
+               ID3D11ShaderResourceView* pViewNULL = NULL;
+               m_dx11Context->CSSetShaderResources( 0, 1, &pViewNULL );
+
+               ID3D11UnorderedAccessView* pUAViewNULL = NULL;
+               m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL );
+               m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &pUAViewNULL, NULL );
+
+               ID3D11Buffer *pBufferNull = NULL;
+               m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull );
+       }       
+} // btDX11SoftBodySolver::updatePositionsFromVelocities
+
+void btDX11SoftBodySolver::solveLinksForPosition( int startLink, int numLinks, float kst, float ti )
+{
+       // Copy kernel parameters to GPU
+       SolvePositionsFromLinksKernelCB constBuffer;
+
+       // Set the first link of the batch
+       // and the batch size
+       constBuffer.startLink = startLink;
+       constBuffer.numLinks = numLinks;
+
+       constBuffer.kst = kst;
+       constBuffer.ti = ti;
+       
+       D3D11_MAPPED_SUBRESOURCE MappedResource = {0};
+       m_dx11Context->Map( solvePositionsFromLinksKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource );
+       memcpy( MappedResource.pData, &constBuffer, sizeof(SolvePositionsFromLinksKernelCB) );  
+       m_dx11Context->Unmap( solvePositionsFromLinksKernel.constBuffer, 0 );
+       m_dx11Context->CSSetConstantBuffers( 0, 1, &solvePositionsFromLinksKernel.constBuffer );
+
+       // Set resources and dispatch
+       m_dx11Context->CSSetShaderResources( 0, 1, &(m_linkData.m_dx11Links.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 1, 1, &(m_linkData.m_dx11LinksMassLSC.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 2, 1, &(m_linkData.m_dx11LinksRestLengthSquared.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 3, 1, &(m_vertexData.m_dx11VertexInverseMass.getSRV()) );
+
+       m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_vertexData.m_dx11VertexPosition.getUAV()), NULL );
+
+       // Execute the kernel
+       m_dx11Context->CSSetShader( solvePositionsFromLinksKernel.kernel, NULL, 0 );
+
+       int     numBlocks = (constBuffer.numLinks + (128-1)) / 128;
+       m_dx11Context->Dispatch(numBlocks , 1, 1 );
+
+       {
+               // Tidy up 
+               ID3D11ShaderResourceView* pViewNULL = NULL;
+               m_dx11Context->CSSetShaderResources( 0, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 1, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 2, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 3, 1, &pViewNULL );
+
+               ID3D11UnorderedAccessView* pUAViewNULL = NULL;
+               m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL );
+
+               ID3D11Buffer *pBufferNull = NULL;
+               m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull );
+       }       
+       
+} // btDX11SoftBodySolver::solveLinksForPosition
+
+void btDX11SoftBodySolver::solveLinksForVelocity( int startLink, int numLinks, float kst )
+{
+       // Copy kernel parameters to GPU
+       VSolveLinksCB constBuffer;
+
+       // Set the first link of the batch
+       // and the batch size
+
+       constBuffer.startLink = startLink;
+       constBuffer.numLinks = numLinks;
+       constBuffer.kst = kst;
+       
+       D3D11_MAPPED_SUBRESOURCE MappedResource = {0};
+       m_dx11Context->Map( vSolveLinksKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource );
+       memcpy( MappedResource.pData, &constBuffer, sizeof(VSolveLinksCB) );    
+       m_dx11Context->Unmap( vSolveLinksKernel.constBuffer, 0 );
+       m_dx11Context->CSSetConstantBuffers( 0, 1, &vSolveLinksKernel.constBuffer );
+
+       // Set resources and dispatch
+       m_dx11Context->CSSetShaderResources( 0, 1, &(m_linkData.m_dx11Links.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 1, 1, &(m_linkData.m_dx11LinksLengthRatio.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 2, 1, &(m_linkData.m_dx11LinksCLength.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 3, 1, &(m_vertexData.m_dx11VertexInverseMass.getSRV()) );
+
+       m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_vertexData.m_dx11VertexVelocity.getUAV()), NULL );
+
+       // Execute the kernel
+       m_dx11Context->CSSetShader( vSolveLinksKernel.kernel, NULL, 0 );
+
+       int     numBlocks = (constBuffer.numLinks + (128-1)) / 128;
+       m_dx11Context->Dispatch(numBlocks , 1, 1 );
+
+       {
+               // Tidy up 
+               ID3D11ShaderResourceView* pViewNULL = NULL;
+               m_dx11Context->CSSetShaderResources( 0, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 1, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 2, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 3, 1, &pViewNULL );
+
+               ID3D11UnorderedAccessView* pUAViewNULL = NULL;
+               m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL );
+
+               ID3D11Buffer *pBufferNull = NULL;
+               m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull );
+       }       
+} // btDX11SoftBodySolver::solveLinksForVelocity
+
+
+void btDX11SoftBodySolver::updateVelocitiesFromPositionsWithVelocities( float isolverdt )
+{
+       // Copy kernel parameters to GPU
+       UpdateVelocitiesFromPositionsWithVelocitiesCB constBuffer;
+
+       // Set the first link of the batch
+       // and the batch size
+       constBuffer.numNodes = m_vertexData.getNumVertices();
+       constBuffer.isolverdt = isolverdt;
+
+       D3D11_MAPPED_SUBRESOURCE MappedResource = {0};
+       m_dx11Context->Map( updateVelocitiesFromPositionsWithVelocitiesKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource );
+       memcpy( MappedResource.pData, &constBuffer, sizeof(UpdateVelocitiesFromPositionsWithVelocitiesCB) );    
+       m_dx11Context->Unmap( updateVelocitiesFromPositionsWithVelocitiesKernel.constBuffer, 0 );
+       m_dx11Context->CSSetConstantBuffers( 0, 1, &updateVelocitiesFromPositionsWithVelocitiesKernel.constBuffer );
+
+       // Set resources and dispatch
+       m_dx11Context->CSSetShaderResources( 0, 1, &(m_vertexData.m_dx11VertexPosition.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 1, 1, &(m_vertexData.m_dx11VertexPreviousPosition.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 2, 1, &(m_vertexData.m_dx11ClothIdentifier.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 3, 1, &(m_dx11PerClothVelocityCorrectionCoefficient.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 4, 1, &(m_dx11PerClothDampingFactor.getSRV()) );
+
+       m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_vertexData.m_dx11VertexVelocity.getUAV()), NULL );
+       m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &(m_vertexData.m_dx11VertexForceAccumulator.getUAV()), NULL );
+
+
+       // Execute the kernel
+       m_dx11Context->CSSetShader( updateVelocitiesFromPositionsWithVelocitiesKernel.kernel, NULL, 0 );
+
+       int     numBlocks = (constBuffer.numNodes + (128-1)) / 128;
+       m_dx11Context->Dispatch(numBlocks , 1, 1 );
+
+       {
+               // Tidy up 
+               ID3D11ShaderResourceView* pViewNULL = NULL;
+               m_dx11Context->CSSetShaderResources( 0, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 1, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 2, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 3, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 4, 1, &pViewNULL );
+
+               ID3D11UnorderedAccessView* pUAViewNULL = NULL;
+               m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL );
+               m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &pUAViewNULL, NULL );
+
+               ID3D11Buffer *pBufferNull = NULL;
+               m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull );
+       }       
+
+} // btDX11SoftBodySolver::updateVelocitiesFromPositionsWithVelocities
+
+void btDX11SoftBodySolver::updateVelocitiesFromPositionsWithoutVelocities( float isolverdt )
+{
+       // Copy kernel parameters to GPU
+       UpdateVelocitiesFromPositionsWithoutVelocitiesCB constBuffer;
+
+       // Set the first link of the batch
+       // and the batch size
+       constBuffer.numNodes = m_vertexData.getNumVertices();
+       constBuffer.isolverdt = isolverdt;
+
+       D3D11_MAPPED_SUBRESOURCE MappedResource = {0};
+       m_dx11Context->Map( updateVelocitiesFromPositionsWithoutVelocitiesKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource );
+       memcpy( MappedResource.pData, &constBuffer, sizeof(UpdateVelocitiesFromPositionsWithoutVelocitiesCB) ); 
+       m_dx11Context->Unmap( updateVelocitiesFromPositionsWithoutVelocitiesKernel.constBuffer, 0 );
+       m_dx11Context->CSSetConstantBuffers( 0, 1, &updateVelocitiesFromPositionsWithoutVelocitiesKernel.constBuffer );
+
+       // Set resources and dispatch
+       m_dx11Context->CSSetShaderResources( 0, 1, &(m_vertexData.m_dx11VertexPosition.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 1, 1, &(m_vertexData.m_dx11VertexPreviousPosition.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 2, 1, &(m_vertexData.m_dx11ClothIdentifier.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 3, 1, &(m_dx11PerClothDampingFactor.getSRV()) );
+
+       m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_vertexData.m_dx11VertexVelocity.getUAV()), NULL );
+       m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &(m_vertexData.m_dx11VertexForceAccumulator.getUAV()), NULL );
+
+
+       // Execute the kernel
+       m_dx11Context->CSSetShader( updateVelocitiesFromPositionsWithoutVelocitiesKernel.kernel, NULL, 0 );
+
+       int     numBlocks = (constBuffer.numNodes + (128-1)) / 128;
+       m_dx11Context->Dispatch(numBlocks , 1, 1 );
+
+       {
+               // Tidy up 
+               ID3D11ShaderResourceView* pViewNULL = NULL;
+               m_dx11Context->CSSetShaderResources( 0, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 1, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 2, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 3, 1, &pViewNULL );
+
+               ID3D11UnorderedAccessView* pUAViewNULL = NULL;
+               m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL );
+               m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &pUAViewNULL, NULL );
+
+               ID3D11Buffer *pBufferNull = NULL;
+               m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull );
+       }       
+
+} // btDX11SoftBodySolver::updateVelocitiesFromPositionsWithoutVelocities
+
+
+void btDX11SoftBodySolver::computeBounds( )
+{
+       ComputeBoundsCB constBuffer;
+       m_vertexData.moveToAccelerator();
+
+       // Set the first link of the batch
+       // and the batch size
+       constBuffer.numNodes = m_vertexData.getNumVertices();
+       constBuffer.numSoftBodies = m_softBodySet.size();
+
+       D3D11_MAPPED_SUBRESOURCE MappedResource = {0};
+       m_dx11Context->Map( computeBoundsKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource );
+       memcpy( MappedResource.pData, &constBuffer, sizeof(ComputeBoundsCB) );  
+       m_dx11Context->Unmap( computeBoundsKernel.constBuffer, 0 );
+       m_dx11Context->CSSetConstantBuffers( 0, 1, &computeBoundsKernel.constBuffer );
+
+       // Set resources and dispatch
+       m_dx11Context->CSSetShaderResources( 0, 1, &(m_vertexData.m_dx11ClothIdentifier.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 1, 1, &(m_vertexData.m_dx11VertexPosition.getSRV()) );
+
+       m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_dx11PerClothMinBounds.getUAV()), NULL );
+       m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &(m_dx11PerClothMaxBounds.getUAV()), NULL );
+       
+       // Execute the kernel
+       m_dx11Context->CSSetShader( computeBoundsKernel.kernel, NULL, 0 );
+
+       int     numBlocks = (constBuffer.numNodes + (128-1)) / 128;
+       m_dx11Context->Dispatch(numBlocks , 1, 1 );
+
+       {
+               // Tidy up 
+               ID3D11ShaderResourceView* pViewNULL = NULL;
+               m_dx11Context->CSSetShaderResources( 0, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 1, 1, &pViewNULL );
+
+               ID3D11UnorderedAccessView* pUAViewNULL = NULL;
+               m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL );
+               m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &pUAViewNULL, NULL );
+
+               ID3D11Buffer *pBufferNull = NULL;
+               m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull );
+       }       
+}
+
+void btDX11SoftBodySolver::solveCollisionsAndUpdateVelocities( float isolverdt )
+{
+
+       // Copy kernel parameters to GPU
+       m_vertexData.moveToAccelerator();
+       m_dx11PerClothFriction.moveToGPU();
+       m_dx11PerClothDampingFactor.moveToGPU();
+       m_dx11PerClothCollisionObjects.moveToGPU();
+       m_dx11CollisionObjectDetails.moveToGPU();
+
+       SolveCollisionsAndUpdateVelocitiesCB constBuffer;
+
+       // Set the first link of the batch
+       // and the batch size
+       constBuffer.numNodes = m_vertexData.getNumVertices();
+       constBuffer.isolverdt = isolverdt;
+
+
+       D3D11_MAPPED_SUBRESOURCE MappedResource = {0};
+       m_dx11Context->Map( solveCollisionsAndUpdateVelocitiesKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource );
+       memcpy( MappedResource.pData, &constBuffer, sizeof(SolveCollisionsAndUpdateVelocitiesCB) );     
+       m_dx11Context->Unmap( solveCollisionsAndUpdateVelocitiesKernel.constBuffer, 0 );
+       m_dx11Context->CSSetConstantBuffers( 0, 1, &solveCollisionsAndUpdateVelocitiesKernel.constBuffer );
+
+       // Set resources and dispatch
+       m_dx11Context->CSSetShaderResources( 0, 1, &(m_vertexData.m_dx11ClothIdentifier.getSRV()) );    
+       m_dx11Context->CSSetShaderResources( 1, 1, &(m_vertexData.m_dx11VertexPreviousPosition.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 2, 1, &(m_dx11PerClothFriction.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 3, 1, &(m_dx11PerClothDampingFactor.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 4, 1, &(m_dx11PerClothCollisionObjects.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 5, 1, &(m_dx11CollisionObjectDetails.getSRV()) );
+
+       m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_vertexData.m_dx11VertexForceAccumulator.getUAV()), NULL );
+       m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &(m_vertexData.m_dx11VertexVelocity.getUAV()), NULL );
+       m_dx11Context->CSSetUnorderedAccessViews( 2, 1, &(m_vertexData.m_dx11VertexPosition.getUAV()), NULL );
+       
+       // Execute the kernel
+       m_dx11Context->CSSetShader( solveCollisionsAndUpdateVelocitiesKernel.kernel, NULL, 0 );
+
+       int     numBlocks = (constBuffer.numNodes + (128-1)) / 128;
+       m_dx11Context->Dispatch(numBlocks , 1, 1 );
+
+       {
+               // Tidy up 
+               ID3D11ShaderResourceView* pViewNULL = NULL;
+               m_dx11Context->CSSetShaderResources( 0, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 1, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 2, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 3, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 4, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 5, 1, &pViewNULL );
+
+               ID3D11UnorderedAccessView* pUAViewNULL = NULL;
+               m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL );
+               m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &pUAViewNULL, NULL );
+               m_dx11Context->CSSetUnorderedAccessViews( 2, 1, &pUAViewNULL, NULL );
+
+               ID3D11Buffer *pBufferNull = NULL;
+               m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull );
+       }       
+
+} // btDX11SoftBodySolver::solveCollisionsAndUpdateVelocities
+
+// End kernel dispatches
+/////////////////////////////////////
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+btDX11SoftBodySolver::btAcceleratedSoftBodyInterface *btDX11SoftBodySolver::findSoftBodyInterface( const btSoftBody* const softBody )
+{
+       for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex )
+       {
+               btAcceleratedSoftBodyInterface *softBodyInterface = m_softBodySet[softBodyIndex];
+               if( softBodyInterface->getSoftBody() == softBody )
+                       return softBodyInterface;
+       }
+       return 0;
+}
+
+const btDX11SoftBodySolver::btAcceleratedSoftBodyInterface * const btDX11SoftBodySolver::findSoftBodyInterface( const btSoftBody* const softBody ) const
+{
+       for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex )
+       {
+               btAcceleratedSoftBodyInterface *softBodyInterface = m_softBodySet[softBodyIndex];
+               if( softBodyInterface->getSoftBody() == softBody )
+                       return softBodyInterface;
+       }
+       return 0;
+}
+
+int btDX11SoftBodySolver::findSoftBodyIndex( const btSoftBody* const softBody )
+{
+       for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex )
+       {
+               btAcceleratedSoftBodyInterface *softBodyInterface = m_softBodySet[softBodyIndex];
+               if( softBodyInterface->getSoftBody() == softBody )
+                       return softBodyIndex;
+       }
+       return 1;
+}
+
+
+void btSoftBodySolverOutputDXtoCPU::copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer )
+{
+       
+
+       btSoftBodySolver *solver = softBody->getSoftBodySolver();
+       btAssert( solver->getSolverType() == btSoftBodySolver::DX_SOLVER || solver->getSolverType() == btSoftBodySolver::DX_SIMD_SOLVER );
+       btDX11SoftBodySolver *dxSolver = static_cast< btDX11SoftBodySolver * >( solver );
+
+       btDX11SoftBodySolver::btAcceleratedSoftBodyInterface * currentCloth = dxSolver->findSoftBodyInterface( softBody );
+       btSoftBodyVertexDataDX11 &vertexData( dxSolver->m_vertexData );
+       
+
+       const int firstVertex = currentCloth->getFirstVertex();
+       const int lastVertex = firstVertex + currentCloth->getNumVertices();
+
+       if( vertexBuffer->getBufferType() == btVertexBufferDescriptor::CPU_BUFFER )
+       {               
+               // If we're doing a CPU-buffer copy must copy the data back to the host first
+               vertexData.m_dx11VertexPosition.copyFromGPU();
+               vertexData.m_dx11VertexNormal.copyFromGPU();
+
+               const int firstVertex = currentCloth->getFirstVertex();
+               const int lastVertex = firstVertex + currentCloth->getNumVertices();
+               const btCPUVertexBufferDescriptor *cpuVertexBuffer = static_cast< btCPUVertexBufferDescriptor* >(vertexBuffer);                                         
+               float *basePointer = cpuVertexBuffer->getBasePointer();                                         
+
+               if( vertexBuffer->hasVertexPositions() )
+               {
+                       const int vertexOffset = cpuVertexBuffer->getVertexOffset();
+                       const int vertexStride = cpuVertexBuffer->getVertexStride();
+                       float *vertexPointer = basePointer + vertexOffset;
+
+                       for( int vertexIndex = firstVertex; vertexIndex < lastVertex; ++vertexIndex )
+                       {
+                               Vectormath::Aos::Point3 position = vertexData.getPosition(vertexIndex);
+                               *(vertexPointer + 0) = position.getX();
+                               *(vertexPointer + 1) = position.getY();
+                               *(vertexPointer + 2) = position.getZ();
+                               vertexPointer += vertexStride;
+                       }
+               }
+               if( vertexBuffer->hasNormals() )
+               {
+                       const int normalOffset = cpuVertexBuffer->getNormalOffset();
+                       const int normalStride = cpuVertexBuffer->getNormalStride();
+                       float *normalPointer = basePointer + normalOffset;
+
+                       for( int vertexIndex = firstVertex; vertexIndex < lastVertex; ++vertexIndex )
+                       {
+                               Vectormath::Aos::Vector3 normal = vertexData.getNormal(vertexIndex);
+                               *(normalPointer + 0) = normal.getX();
+                               *(normalPointer + 1) = normal.getY();
+                               *(normalPointer + 2) = normal.getZ();
+                               normalPointer += normalStride;
+                       }
+               }
+       } 
+} // btDX11SoftBodySolver::outputToVertexBuffers
+
+
+
+bool btSoftBodySolverOutputDXtoDX::checkInitialized()
+{
+       if( !m_shadersInitialized )
+               if( buildShaders() )
+                       m_shadersInitialized = true;
+
+       return m_shadersInitialized;
+}
+
+void btSoftBodySolverOutputDXtoDX::releaseKernels()
+{
+       SAFE_RELEASE( outputToVertexArrayWithNormalsKernel.constBuffer );
+       SAFE_RELEASE( outputToVertexArrayWithNormalsKernel.kernel );
+       SAFE_RELEASE( outputToVertexArrayWithoutNormalsKernel.constBuffer );
+       SAFE_RELEASE( outputToVertexArrayWithoutNormalsKernel.kernel );
+
+       m_shadersInitialized = false;
+}
+
+
+bool btSoftBodySolverOutputDXtoDX::buildShaders()
+{
+       // Ensure current kernels are released first
+       releaseKernels();
+
+       bool returnVal = true;
+
+       if( m_shadersInitialized )
+               return true;
+       
+
+       outputToVertexArrayWithNormalsKernel = dxFunctions.compileComputeShaderFromString( OutputToVertexArrayHLSLString, "OutputToVertexArrayWithNormalsKernel", sizeof(OutputToVertexArrayCB) );
+       if( !outputToVertexArrayWithNormalsKernel.constBuffer)
+               returnVal = false;
+       outputToVertexArrayWithoutNormalsKernel = dxFunctions.compileComputeShaderFromString( OutputToVertexArrayHLSLString, "OutputToVertexArrayWithoutNormalsKernel", sizeof(OutputToVertexArrayCB) );
+       if( !outputToVertexArrayWithoutNormalsKernel.constBuffer )
+               returnVal = false;
+
+
+       if( returnVal )
+               m_shadersInitialized = true;
+
+       return returnVal;
+}
+
+
+void btSoftBodySolverOutputDXtoDX::copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer )
+{
+       
+
+       btSoftBodySolver *solver = softBody->getSoftBodySolver();
+       btAssert( solver->getSolverType() == btSoftBodySolver::DX_SOLVER || solver->getSolverType() == btSoftBodySolver::DX_SIMD_SOLVER );
+       btDX11SoftBodySolver *dxSolver = static_cast< btDX11SoftBodySolver * >( solver );
+       checkInitialized();
+       btDX11SoftBodySolver::btAcceleratedSoftBodyInterface * currentCloth = dxSolver->findSoftBodyInterface( softBody );
+       btSoftBodyVertexDataDX11 &vertexData( dxSolver->m_vertexData );
+
+
+       const int firstVertex = currentCloth->getFirstVertex();
+       const int lastVertex = firstVertex + currentCloth->getNumVertices();
+
+       if( vertexBuffer->getBufferType() == btVertexBufferDescriptor::CPU_BUFFER )
+       {               
+               btSoftBodySolverOutputDXtoDX::copySoftBodyToVertexBuffer( softBody, vertexBuffer );
+       } else  if( vertexBuffer->getBufferType() == btVertexBufferDescriptor::DX11_BUFFER )
+       {
+               // Do a DX11 copy shader DX to DX copy
+
+               const btDX11VertexBufferDescriptor *dx11VertexBuffer = static_cast< btDX11VertexBufferDescriptor* >(vertexBuffer);      
+
+               // No need to batch link solver, it is entirely parallel
+               // Copy kernel parameters to GPU
+               OutputToVertexArrayCB constBuffer;
+               ID3D11ComputeShader* outputToVertexArrayShader = outputToVertexArrayWithoutNormalsKernel.kernel;
+               ID3D11Buffer* outputToVertexArrayConstBuffer = outputToVertexArrayWithoutNormalsKernel.constBuffer;
+               
+               constBuffer.startNode = firstVertex;
+               constBuffer.numNodes = currentCloth->getNumVertices();
+               constBuffer.positionOffset = vertexBuffer->getVertexOffset();
+               constBuffer.positionStride = vertexBuffer->getVertexStride();
+               if( vertexBuffer->hasNormals() )
+               {
+                       constBuffer.normalOffset = vertexBuffer->getNormalOffset();
+                       constBuffer.normalStride = vertexBuffer->getNormalStride();
+                       outputToVertexArrayShader = outputToVertexArrayWithNormalsKernel.kernel;
+                       outputToVertexArrayConstBuffer = outputToVertexArrayWithNormalsKernel.constBuffer;
+               }       
+               
+               // TODO: factor this out. Number of nodes is static and sdt might be, too, we can update this just once on setup
+               D3D11_MAPPED_SUBRESOURCE MappedResource = {0};
+               dxFunctions.m_dx11Context->Map( outputToVertexArrayConstBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource );
+               memcpy( MappedResource.pData, &constBuffer, sizeof(OutputToVertexArrayCB) );    
+               dxFunctions.m_dx11Context->Unmap( outputToVertexArrayConstBuffer, 0 );
+               dxFunctions.m_dx11Context->CSSetConstantBuffers( 0, 1, &outputToVertexArrayConstBuffer );
+
+               // Set resources and dispatch
+               dxFunctions.m_dx11Context->CSSetShaderResources( 0, 1, &(vertexData.m_dx11VertexPosition.getSRV()) );
+               dxFunctions.m_dx11Context->CSSetShaderResources( 1, 1, &(vertexData.m_dx11VertexNormal.getSRV()) );
+
+               ID3D11UnorderedAccessView* dx11UAV = dx11VertexBuffer->getDX11UAV();
+               dxFunctions.m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(dx11UAV), NULL );
+
+               // Execute the kernel
+               dxFunctions.m_dx11Context->CSSetShader( outputToVertexArrayShader, NULL, 0 );
+
+               int     numBlocks = (constBuffer.numNodes + (128-1)) / 128;
+               dxFunctions.m_dx11Context->Dispatch(numBlocks, 1, 1 );
+
+               {
+                       // Tidy up 
+                       ID3D11ShaderResourceView* pViewNULL = NULL;
+                       dxFunctions.m_dx11Context->CSSetShaderResources( 0, 1, &pViewNULL );
+                       dxFunctions.m_dx11Context->CSSetShaderResources( 1, 1, &pViewNULL );
+
+                       ID3D11UnorderedAccessView* pUAViewNULL = NULL;
+                       dxFunctions.m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL );
+
+                       ID3D11Buffer *pBufferNull = NULL;
+                       dxFunctions.m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull );
+               }       
+       }
+} // btDX11SoftBodySolver::outputToVertexBuffers
+
+
+
+
+DXFunctions::KernelDesc DXFunctions::compileComputeShaderFromString( const char* shaderString, const char* shaderName, int constBufferSize, D3D10_SHADER_MACRO *compileMacros )
+{
+       const char *cs5String = "cs_5_0";
+
+       HRESULT hr = S_OK;
+       ID3DBlob* pErrorBlob = NULL;
+       ID3DBlob* pBlob = NULL;
+       ID3D11ComputeShader*            kernelPointer = 0;
+
+       hr = m_dx11CompileFromMemory( 
+               shaderString,
+               strlen(shaderString),
+               shaderName,
+               compileMacros,
+               NULL,
+               shaderName,
+               cs5String,
+               D3D10_SHADER_ENABLE_STRICTNESS,
+               NULL,
+               NULL,
+               &pBlob,
+               &pErrorBlob,
+               NULL
+               );
+
+       if( FAILED(hr) )
+       {
+               if( pErrorBlob ) {
+                       btAssert( "Compilation of compute shader failed\n" );
+                       char *debugString = (char*)pErrorBlob->GetBufferPointer();
+                       OutputDebugStringA( debugString );
+               }
+       
+               SAFE_RELEASE( pErrorBlob );
+               SAFE_RELEASE( pBlob );    
+
+               DXFunctions::KernelDesc descriptor;
+               descriptor.kernel = 0;
+               descriptor.constBuffer = 0;
+               return descriptor;
+       }    
+
+       // Create the Compute Shader
+       hr = m_dx11Device->CreateComputeShader( pBlob->GetBufferPointer(), pBlob->GetBufferSize(), NULL, &kernelPointer );
+       if( FAILED( hr ) )
+       {
+               DXFunctions::KernelDesc descriptor;
+               descriptor.kernel = 0;
+               descriptor.constBuffer = 0;
+               return descriptor;
+       }
+
+       ID3D11Buffer* constBuffer = 0;
+       if( constBufferSize > 0 )
+       {
+               // Create the constant buffer
+               D3D11_BUFFER_DESC constant_buffer_desc;
+               ZeroMemory(&constant_buffer_desc, sizeof(constant_buffer_desc));
+               constant_buffer_desc.ByteWidth = constBufferSize;
+               constant_buffer_desc.Usage = D3D11_USAGE_DYNAMIC;
+               constant_buffer_desc.BindFlags = D3D11_BIND_CONSTANT_BUFFER;
+               constant_buffer_desc.CPUAccessFlags = D3D11_CPU_ACCESS_WRITE;
+               m_dx11Device->CreateBuffer(&constant_buffer_desc, NULL, &constBuffer);
+               if( FAILED( hr ) )
+               {
+                       KernelDesc descriptor;
+                       descriptor.kernel = 0;
+                       descriptor.constBuffer = 0;
+                       return descriptor;
+               }
+       }
+
+       SAFE_RELEASE( pErrorBlob );
+       SAFE_RELEASE( pBlob );
+
+       DXFunctions::KernelDesc descriptor;
+       descriptor.kernel = kernelPointer;
+       descriptor.constBuffer = constBuffer;
+       return descriptor;
+} // compileComputeShader
+
+
+
+bool btDX11SoftBodySolver::buildShaders()
+{
+       // Ensure current kernels are released first
+       releaseKernels();
+
+       bool returnVal = true;
+
+       if( m_shadersInitialized )
+               return true;
+
+       prepareLinksKernel = dxFunctions.compileComputeShaderFromString( PrepareLinksHLSLString, "PrepareLinksKernel", sizeof(PrepareLinksCB) );
+       if( !prepareLinksKernel.constBuffer )
+               returnVal = false;
+       updatePositionsFromVelocitiesKernel = dxFunctions.compileComputeShaderFromString( UpdatePositionsFromVelocitiesHLSLString, "UpdatePositionsFromVelocitiesKernel", sizeof(UpdatePositionsFromVelocitiesCB) );
+       if( !updatePositionsFromVelocitiesKernel.constBuffer )
+               returnVal = false;
+       solvePositionsFromLinksKernel = dxFunctions.compileComputeShaderFromString( SolvePositionsHLSLString, "SolvePositionsFromLinksKernel", sizeof(SolvePositionsFromLinksKernelCB) );
+       if( !updatePositionsFromVelocitiesKernel.constBuffer )
+               returnVal = false;
+       vSolveLinksKernel = dxFunctions.compileComputeShaderFromString( VSolveLinksHLSLString, "VSolveLinksKernel", sizeof(VSolveLinksCB) );
+       if( !vSolveLinksKernel.constBuffer )
+               returnVal = false;
+       updateVelocitiesFromPositionsWithVelocitiesKernel = dxFunctions.compileComputeShaderFromString( UpdateNodesHLSLString, "updateVelocitiesFromPositionsWithVelocitiesKernel", sizeof(UpdateVelocitiesFromPositionsWithVelocitiesCB) );
+       if( !updateVelocitiesFromPositionsWithVelocitiesKernel.constBuffer )
+               returnVal = false;
+       updateVelocitiesFromPositionsWithoutVelocitiesKernel = dxFunctions.compileComputeShaderFromString( UpdatePositionsHLSLString, "updateVelocitiesFromPositionsWithoutVelocitiesKernel", sizeof(UpdateVelocitiesFromPositionsWithoutVelocitiesCB) );
+       if( !updateVelocitiesFromPositionsWithoutVelocitiesKernel.constBuffer )
+               returnVal = false;
+       integrateKernel = dxFunctions.compileComputeShaderFromString( IntegrateHLSLString, "IntegrateKernel", sizeof(IntegrateCB) );
+       if( !integrateKernel.constBuffer )
+               returnVal = false;
+       applyForcesKernel = dxFunctions.compileComputeShaderFromString( ApplyForcesHLSLString, "ApplyForcesKernel", sizeof(ApplyForcesCB) );
+       if( !applyForcesKernel.constBuffer )
+               returnVal = false;
+       solveCollisionsAndUpdateVelocitiesKernel = dxFunctions.compileComputeShaderFromString( SolveCollisionsAndUpdateVelocitiesHLSLString, "SolveCollisionsAndUpdateVelocitiesKernel", sizeof(SolveCollisionsAndUpdateVelocitiesCB) );
+       if( !solveCollisionsAndUpdateVelocitiesKernel.constBuffer )
+               returnVal = false;
+
+       // TODO: Rename to UpdateSoftBodies
+       resetNormalsAndAreasKernel = dxFunctions.compileComputeShaderFromString( UpdateNormalsHLSLString, "ResetNormalsAndAreasKernel", sizeof(UpdateSoftBodiesCB) );
+       if( !resetNormalsAndAreasKernel.constBuffer )
+               returnVal = false;
+       normalizeNormalsAndAreasKernel = dxFunctions.compileComputeShaderFromString( UpdateNormalsHLSLString, "NormalizeNormalsAndAreasKernel", sizeof(UpdateSoftBodiesCB) );
+       if( !normalizeNormalsAndAreasKernel.constBuffer )
+               returnVal = false;
+       updateSoftBodiesKernel = dxFunctions.compileComputeShaderFromString( UpdateNormalsHLSLString, "UpdateSoftBodiesKernel", sizeof(UpdateSoftBodiesCB) );
+       if( !updateSoftBodiesKernel.constBuffer )
+               returnVal = false;
+
+       computeBoundsKernel = dxFunctions.compileComputeShaderFromString( ComputeBoundsHLSLString, "ComputeBoundsKernel", sizeof(ComputeBoundsCB) );
+       if( !computeBoundsKernel.constBuffer )
+               returnVal = false;
+
+
+
+       if( returnVal )
+               m_shadersInitialized = true;
+
+       return returnVal;
+}
+
+
+static Vectormath::Aos::Transform3 toTransform3( const btTransform &transform )
+{
+       Vectormath::Aos::Transform3 outTransform;
+       outTransform.setCol(0, toVector3(transform.getBasis().getColumn(0)));
+       outTransform.setCol(1, toVector3(transform.getBasis().getColumn(1)));
+       outTransform.setCol(2, toVector3(transform.getBasis().getColumn(2)));
+       outTransform.setCol(3, toVector3(transform.getOrigin()));
+       return outTransform;    
+}
+
+
+void btDX11SoftBodySolver::btAcceleratedSoftBodyInterface::updateBounds( const btVector3 &lowerBound, const btVector3 &upperBound )
+{
+       float scalarMargin = this->getSoftBody()->getCollisionShape()->getMargin();
+       btVector3 vectorMargin( scalarMargin, scalarMargin, scalarMargin );
+       m_softBody->m_bounds[0] = lowerBound - vectorMargin;
+       m_softBody->m_bounds[1] = upperBound + vectorMargin;
+}
+
+void btDX11SoftBodySolver::processCollision( btSoftBody*, btSoftBody* )
+{
+
+}
+
+// Add the collision object to the set to deal with for a particular soft body
+void btDX11SoftBodySolver::processCollision( btSoftBody *softBody, const btCollisionObjectWrapper* collisionObject )
+{
+       int softBodyIndex = findSoftBodyIndex( softBody );
+
+       if( softBodyIndex >= 0 )
+       {
+               const btCollisionShape *collisionShape = collisionObject->getCollisionShape();
+               float friction = collisionObject->getCollisionObject()->getFriction();
+               int shapeType = collisionShape->getShapeType();
+               if( shapeType == CAPSULE_SHAPE_PROXYTYPE )
+               {
+                       // Add to the list of expected collision objects
+                       CollisionShapeDescription newCollisionShapeDescription;
+                       newCollisionShapeDescription.softBodyIdentifier = softBodyIndex;
+                       newCollisionShapeDescription.collisionShapeType = shapeType;
+                       // TODO: May need to transpose this matrix either here or in HLSL
+                       newCollisionShapeDescription.shapeTransform = toTransform3(collisionObject->getWorldTransform());
+                       const btCapsuleShape *capsule = static_cast<const btCapsuleShape*>( collisionShape );
+                       newCollisionShapeDescription.radius = capsule->getRadius();
+                       newCollisionShapeDescription.halfHeight = capsule->getHalfHeight();
+                       newCollisionShapeDescription.margin = capsule->getMargin();
+                       newCollisionShapeDescription.friction = friction;
+                       const btRigidBody* body = static_cast< const btRigidBody* >( collisionObject->getCollisionObject() );
+                       newCollisionShapeDescription.linearVelocity = toVector3(body->getLinearVelocity());
+                       newCollisionShapeDescription.angularVelocity = toVector3(body->getAngularVelocity());
+                       m_collisionObjectDetails.push_back( newCollisionShapeDescription );
+
+               } else {
+#ifdef _DEBUG
+                       printf("Unsupported collision shape type\n");
+#endif
+               }
+       } else {
+               btAssert("Unknown soft body");
+       }
+} // btDX11SoftBodySolver::processCollision
+
+
+
+void btDX11SoftBodySolver::predictMotion( float timeStep )
+{
+       // Clear the collision shape array for the next frame
+       // Ensure that the DX11 ones are moved off the device so they will be updated correctly
+       m_dx11CollisionObjectDetails.changedOnCPU();
+       m_dx11PerClothCollisionObjects.changedOnCPU();
+       m_collisionObjectDetails.clear();
+
+       // Fill the force arrays with current acceleration data etc
+       m_perClothWindVelocity.resize( m_softBodySet.size() );
+       for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex )
+       {
+               btSoftBody *softBody = m_softBodySet[softBodyIndex]->getSoftBody();
+               
+               m_perClothWindVelocity[softBodyIndex] = toVector3(softBody->getWindVelocity());
+       }
+       m_dx11PerClothWindVelocity.changedOnCPU();
+
+       // Apply forces that we know about to the cloths
+       applyForces(  timeStep * getTimeScale() );
+
+       // Itegrate motion for all soft bodies dealt with by the solver
+       integrate( timeStep * getTimeScale() );
+
+       // Update bounds
+       // Will update the bounds for all softBodies being dealt with by the solver and 
+       // set the values in the btSoftBody object
+       if (m_enableUpdateBounds)
+               updateBounds();
+
+       // End prediction work for solvers
+}
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11.h
new file mode 100644 (file)
index 0000000..0f50ecf
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11.h
@@ -0,0 +1,691 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_ACCELERATED_SOFT_BODY_DX11_SOLVER_H
+#define BT_ACCELERATED_SOFT_BODY_DX11_SOLVER_H
+
+
+#include "vectormath/vmInclude.h"
+#include "BulletSoftBody/btSoftBodySolvers.h"
+#include "btSoftBodySolverVertexBuffer_DX11.h"
+#include "btSoftBodySolverLinkData_DX11.h"
+#include "btSoftBodySolverVertexData_DX11.h"
+#include "btSoftBodySolverTriangleData_DX11.h"
+
+
+
+class DXFunctions
+{
+public:
+       
+       typedef HRESULT (WINAPI * CompileFromMemoryFunc)(LPCSTR,SIZE_T,LPCSTR,const D3D10_SHADER_MACRO*,LPD3D10INCLUDE,LPCSTR,LPCSTR,UINT,UINT,ID3DX11ThreadPump*,ID3D10Blob**,ID3D10Blob**,HRESULT*);
+
+       ID3D11Device *           m_dx11Device;
+       ID3D11DeviceContext* m_dx11Context;
+       CompileFromMemoryFunc m_dx11CompileFromMemory;
+
+       DXFunctions(ID3D11Device *dx11Device, ID3D11DeviceContext* dx11Context, CompileFromMemoryFunc dx11CompileFromMemory) :
+               m_dx11Device( dx11Device ),
+               m_dx11Context( dx11Context ),
+               m_dx11CompileFromMemory( dx11CompileFromMemory )
+       {
+
+       }
+
+       class KernelDesc
+       {
+       protected:
+               
+
+       public:
+               ID3D11ComputeShader* kernel;
+               ID3D11Buffer* constBuffer;
+
+               KernelDesc()
+               {
+                       kernel = 0;
+                       constBuffer = 0;
+               }
+
+               virtual ~KernelDesc()
+               {
+                       // TODO: this should probably destroy its kernel but we need to be careful
+                       // in case KernelDescs are copied
+               }
+       }; 
+
+       /**
+        * Compile a compute shader kernel from a string and return the appropriate KernelDesc object.
+        */
+       KernelDesc compileComputeShaderFromString( const char* shaderString, const char* shaderName, int constBufferSize, D3D10_SHADER_MACRO *compileMacros = 0 );
+
+};
+
+class btDX11SoftBodySolver : public btSoftBodySolver
+{
+protected:
+       /**
+        * Entry in the collision shape array.
+        * Specifies the shape type, the transform matrix and the necessary details of the collisionShape.
+        */
+       struct CollisionShapeDescription
+       {
+               Vectormath::Aos::Transform3 shapeTransform;
+               Vectormath::Aos::Vector3 linearVelocity;
+               Vectormath::Aos::Vector3 angularVelocity;
+
+               int softBodyIdentifier;
+               int collisionShapeType;
+       
+               // Both needed for capsule
+               float radius;
+               float halfHeight;
+               
+               float margin;
+               float friction;
+
+               CollisionShapeDescription()
+               {
+                       collisionShapeType = 0;
+                       margin = 0;
+                       friction = 0;
+               }
+       };
+
+       struct UIntVector3
+       {
+               UIntVector3()
+               {
+                       x = 0;
+                       y = 0;
+                       z = 0;
+                       _padding = 0;
+               }
+               
+               UIntVector3( unsigned int x_, unsigned int y_, unsigned int z_ )
+               {
+                       x = x_;
+                       y = y_;
+                       z = z_;
+                       _padding = 0;
+               }
+                       
+               unsigned int x;
+               unsigned int y;
+               unsigned int z;
+               unsigned int _padding;
+       };
+
+
+
+public:
+       /**
+        * SoftBody class to maintain information about a soft body instance
+        * within a solver.
+        * This data addresses the main solver arrays.
+        */
+       class btAcceleratedSoftBodyInterface
+       {
+       protected:
+               /** Current number of vertices that are part of this cloth */
+               int m_numVertices;
+               /** Maximum number of vertices allocated to be part of this cloth */
+               int m_maxVertices;
+               /** Current number of triangles that are part of this cloth */
+               int m_numTriangles;
+               /** Maximum number of triangles allocated to be part of this cloth */
+               int m_maxTriangles;
+               /** Index of first vertex in the world allocated to this cloth */
+               int m_firstVertex;
+               /** Index of first triangle in the world allocated to this cloth */
+               int m_firstTriangle;
+               /** Index of first link in the world allocated to this cloth */
+               int m_firstLink;
+               /** Maximum number of links allocated to this cloth */
+               int m_maxLinks;
+               /** Current number of links allocated to this cloth */
+               int m_numLinks;
+
+               /** The actual soft body this data represents */
+               btSoftBody *m_softBody;
+
+
+       public:
+               btAcceleratedSoftBodyInterface( btSoftBody *softBody ) :
+                 m_softBody( softBody )
+               {
+                       m_numVertices = 0;
+                       m_maxVertices = 0;
+                       m_numTriangles = 0;
+                       m_maxTriangles = 0;
+                       m_firstVertex = 0;
+                       m_firstTriangle = 0;
+                       m_firstLink = 0;
+                       m_maxLinks = 0;
+                       m_numLinks = 0;
+               }
+               int getNumVertices() const
+               {
+                       return m_numVertices;
+               }
+
+               int getNumTriangles() const
+               {
+                       return m_numTriangles;
+               }
+
+               int getMaxVertices() const
+               {
+                       return m_maxVertices;
+               }
+
+               int getMaxTriangles() const
+               {
+                       return m_maxTriangles;
+               }
+
+               int getFirstVertex() const
+               {
+                       return m_firstVertex;
+               }
+
+               int getFirstTriangle() const
+               {
+                       return m_firstTriangle;
+               }
+
+
+               /**
+                * Update the bounds in the btSoftBody object
+                */
+               void updateBounds( const btVector3 &lowerBound, const btVector3 &upperBound );
+
+               
+               // TODO: All of these set functions will have to do checks and
+               // update the world because restructuring of the arrays will be necessary
+               // Reasonable use of "friend"?
+               void setNumVertices( int numVertices )
+               {
+                       m_numVertices = numVertices;
+               }       
+       
+               void setNumTriangles( int numTriangles )
+               {
+                       m_numTriangles = numTriangles;
+               }
+
+               void setMaxVertices( int maxVertices )
+               {
+                       m_maxVertices = maxVertices;
+               }
+
+               void setMaxTriangles( int maxTriangles )
+               {
+                       m_maxTriangles = maxTriangles;
+               }
+
+               void setFirstVertex( int firstVertex )
+               {
+                       m_firstVertex = firstVertex;
+               }
+
+               void setFirstTriangle( int firstTriangle )
+               {
+                       m_firstTriangle = firstTriangle;
+               }
+
+               void setMaxLinks( int maxLinks )
+               {
+                       m_maxLinks = maxLinks;
+               }
+
+               void setNumLinks( int numLinks )
+               {
+                       m_numLinks = numLinks;
+               }
+
+               void setFirstLink( int firstLink )
+               {
+                       m_firstLink = firstLink;
+               }
+
+               int getMaxLinks()
+               {
+                       return m_maxLinks;
+               }
+
+               int getNumLinks()
+               {
+                       return m_numLinks;
+               }
+
+               int getFirstLink()
+               {
+                       return m_firstLink;
+               }
+
+               btSoftBody* getSoftBody()
+               {
+                       return m_softBody;
+               }
+
+       };
+
+       
+       struct CollisionObjectIndices
+       {
+               CollisionObjectIndices( int f, int e )
+               {
+                       firstObject = f;
+                       endObject = e;
+               }
+
+               int firstObject;
+               int endObject;
+       };
+
+
+
+
+
+       struct PrepareLinksCB
+       {               
+               int numLinks;
+               int padding0;
+               int padding1;
+               int padding2;
+       };
+
+       struct SolvePositionsFromLinksKernelCB
+       {               
+               int startLink;
+               int numLinks;
+               float kst;
+               float ti;
+       };
+
+       struct IntegrateCB
+       {
+               int numNodes;
+               float solverdt;
+               int padding1;
+               int padding2;
+       };
+
+       struct UpdatePositionsFromVelocitiesCB
+       {
+               int numNodes;
+               float solverSDT;
+               int padding1;
+               int padding2;
+       };
+
+       struct UpdateVelocitiesFromPositionsWithoutVelocitiesCB
+       {
+               int numNodes;
+               float isolverdt;
+               int padding1;
+               int padding2;
+       };
+
+       struct UpdateVelocitiesFromPositionsWithVelocitiesCB
+       {
+               int numNodes;
+               float isolverdt;
+               int padding1;
+               int padding2;
+       };
+
+       struct UpdateSoftBodiesCB
+       {
+               int numNodes;
+               int startFace;
+               int numFaces;
+               float epsilon;
+       };
+
+
+       struct ApplyForcesCB
+       {
+               unsigned int numNodes;
+               float solverdt;
+               float epsilon;
+               int padding3;
+       };
+
+       struct AddVelocityCB
+       {
+               int startNode;
+               int lastNode;
+               float velocityX;
+               float velocityY;
+               float velocityZ;
+               int padding1;
+               int padding2;
+               int padding3;
+       };
+
+       struct VSolveLinksCB
+       {
+               int startLink;
+               int numLinks;
+               float kst;
+               int padding;
+       };
+
+       struct ComputeBoundsCB
+       {
+               int numNodes;
+               int numSoftBodies;
+               int padding1;
+               int padding2;
+       };
+
+       struct SolveCollisionsAndUpdateVelocitiesCB
+       {
+               unsigned int numNodes;
+               float isolverdt;
+               int padding0;
+               int padding1;
+       };
+
+       
+
+
+protected:
+       ID3D11Device *           m_dx11Device;
+       ID3D11DeviceContext* m_dx11Context;
+       
+       DXFunctions dxFunctions;
+public:
+       /** Link data for all cloths. Note that this will be sorted batch-wise for efficient computation and m_linkAddresses will maintain the addressing. */
+       btSoftBodyLinkDataDX11 m_linkData;
+       btSoftBodyVertexDataDX11 m_vertexData;
+       btSoftBodyTriangleDataDX11 m_triangleData;
+
+protected:
+
+       /** Variable to define whether we need to update solver constants on the next iteration */
+       bool m_updateSolverConstants;
+
+       bool m_shadersInitialized;
+
+       /** 
+        * Cloths owned by this solver.
+        * Only our cloths are in this array.
+        */
+       btAlignedObjectArray< btAcceleratedSoftBodyInterface * > m_softBodySet;
+
+       /** Acceleration value to be applied to all non-static vertices in the solver. 
+        * Index n is cloth n, array sized by number of cloths in the world not the solver. 
+        */
+       btAlignedObjectArray< Vectormath::Aos::Vector3 >        m_perClothAcceleration;
+       btDX11Buffer<Vectormath::Aos::Vector3>                          m_dx11PerClothAcceleration;
+
+       /** Wind velocity to be applied normal to all non-static vertices in the solver. 
+        * Index n is cloth n, array sized by number of cloths in the world not the solver. 
+        */
+       btAlignedObjectArray< Vectormath::Aos::Vector3 >        m_perClothWindVelocity;
+       btDX11Buffer<Vectormath::Aos::Vector3>                          m_dx11PerClothWindVelocity;
+
+       /** Velocity damping factor */
+       btAlignedObjectArray< float >                                           m_perClothDampingFactor;
+       btDX11Buffer<float>                                                                     m_dx11PerClothDampingFactor;
+
+       /** Velocity correction coefficient */
+       btAlignedObjectArray< float >                                           m_perClothVelocityCorrectionCoefficient;
+       btDX11Buffer<float>                                                                     m_dx11PerClothVelocityCorrectionCoefficient;
+
+       /** Lift parameter for wind effect on cloth. */
+       btAlignedObjectArray< float >                                           m_perClothLiftFactor;
+       btDX11Buffer<float>                                                                     m_dx11PerClothLiftFactor;
+       
+       /** Drag parameter for wind effect on cloth. */
+       btAlignedObjectArray< float >                                           m_perClothDragFactor;
+       btDX11Buffer<float>                                                                     m_dx11PerClothDragFactor;
+
+       /** Density of the medium in which each cloth sits */
+       btAlignedObjectArray< float >                                           m_perClothMediumDensity;
+       btDX11Buffer<float>                                                                     m_dx11PerClothMediumDensity;
+
+       
+       /** 
+        * Collision shape details: pair of index of first collision shape for the cloth and number of collision objects.
+        */
+       btAlignedObjectArray< CollisionObjectIndices >          m_perClothCollisionObjects;
+       btDX11Buffer<CollisionObjectIndices>                            m_dx11PerClothCollisionObjects;
+
+       /** 
+        * Collision shapes being passed across to the cloths in this solver.
+        */
+       btAlignedObjectArray< CollisionShapeDescription >       m_collisionObjectDetails;
+       btDX11Buffer< CollisionShapeDescription >                       m_dx11CollisionObjectDetails;
+
+       /** 
+        * Minimum bounds for each cloth.
+        * Updated by GPU and returned for use by broad phase.
+        * These are int vectors as a reminder that they store the int representation of a float, not a float.
+        * Bit 31 is inverted - is floats are stored with int-sortable values.
+        */
+       btAlignedObjectArray< UIntVector3 >     m_perClothMinBounds;
+       btDX11Buffer< UIntVector3 >                     m_dx11PerClothMinBounds;
+
+       /** 
+        * Maximum bounds for each cloth.
+        * Updated by GPU and returned for use by broad phase.
+        * These are int vectors as a reminder that they store the int representation of a float, not a float.
+        * Bit 31 is inverted - is floats are stored with int-sortable values.
+        */
+       btAlignedObjectArray< UIntVector3 >     m_perClothMaxBounds;
+       btDX11Buffer< UIntVector3 >                     m_dx11PerClothMaxBounds;
+
+       
+       /** 
+        * Friction coefficient for each cloth
+        */
+       btAlignedObjectArray< float >   m_perClothFriction;
+       btDX11Buffer< float >                   m_dx11PerClothFriction;
+
+       DXFunctions::KernelDesc         prepareLinksKernel;
+       DXFunctions::KernelDesc         solvePositionsFromLinksKernel;
+       DXFunctions::KernelDesc         vSolveLinksKernel;
+       DXFunctions::KernelDesc         integrateKernel;
+       DXFunctions::KernelDesc         addVelocityKernel;
+       DXFunctions::KernelDesc         updatePositionsFromVelocitiesKernel;
+       DXFunctions::KernelDesc         updateVelocitiesFromPositionsWithoutVelocitiesKernel;
+       DXFunctions::KernelDesc         updateVelocitiesFromPositionsWithVelocitiesKernel;
+       DXFunctions::KernelDesc         solveCollisionsAndUpdateVelocitiesKernel;
+       DXFunctions::KernelDesc         resetNormalsAndAreasKernel;
+       DXFunctions::KernelDesc         normalizeNormalsAndAreasKernel;
+       DXFunctions::KernelDesc         computeBoundsKernel;
+       DXFunctions::KernelDesc         updateSoftBodiesKernel;
+
+       DXFunctions::KernelDesc         applyForcesKernel;
+
+       bool    m_enableUpdateBounds;
+
+       /**
+        * Integrate motion on the solver.
+        */
+       virtual void integrate( float solverdt );
+       float computeTriangleArea( 
+               const Vectormath::Aos::Point3 &vertex0,
+               const Vectormath::Aos::Point3 &vertex1,
+               const Vectormath::Aos::Point3 &vertex2 );
+
+
+       virtual bool buildShaders();
+
+       void resetNormalsAndAreas( int numVertices );
+
+       void normalizeNormalsAndAreas( int numVertices );
+
+       void executeUpdateSoftBodies( int firstTriangle, int numTriangles );
+
+       void prepareCollisionConstraints();
+
+       Vectormath::Aos::Vector3 ProjectOnAxis( const Vectormath::Aos::Vector3 &v, const Vectormath::Aos::Vector3 &a );
+
+       void ApplyClampedForce( float solverdt, const Vectormath::Aos::Vector3 &force, const Vectormath::Aos::Vector3 &vertexVelocity, float inverseMass, Vectormath::Aos::Vector3 &vertexForce );
+
+       virtual void applyForces( float solverdt );
+       
+       virtual void updateConstants( float timeStep );
+       int findSoftBodyIndex( const btSoftBody* const softBody );
+
+       //////////////////////////////////////
+       // Kernel dispatches
+       virtual void prepareLinks();
+
+       void updatePositionsFromVelocities( float solverdt );
+       void solveLinksForPosition( int startLink, int numLinks, float kst, float ti );
+       void solveLinksForVelocity( int startLink, int numLinks, float kst );
+       
+       void updateVelocitiesFromPositionsWithVelocities( float isolverdt );
+       void updateVelocitiesFromPositionsWithoutVelocities( float isolverdt );
+       void computeBounds( );
+       void solveCollisionsAndUpdateVelocities( float isolverdt );
+
+       // End kernel dispatches
+       /////////////////////////////////////
+
+       void updateBounds();
+
+       
+       void releaseKernels();
+
+public:
+       btDX11SoftBodySolver(ID3D11Device * dx11Device, ID3D11DeviceContext* dx11Context, DXFunctions::CompileFromMemoryFunc dx11CompileFromMemory = &D3DX11CompileFromMemory);
+
+       virtual ~btDX11SoftBodySolver();
+       
+       
+       virtual SolverTypes getSolverType() const
+       {
+               return DX_SOLVER;
+       }
+
+       void    setEnableUpdateBounds(bool enableBounds)
+       {
+               m_enableUpdateBounds = enableBounds;
+       }
+       bool getEnableUpdateBounds() const
+       {
+               return  m_enableUpdateBounds;
+       }
+
+
+
+       virtual btSoftBodyLinkData &getLinkData();
+
+       virtual btSoftBodyVertexData &getVertexData();
+
+       virtual btSoftBodyTriangleData &getTriangleData();
+
+
+
+       
+
+       btAcceleratedSoftBodyInterface *findSoftBodyInterface( const btSoftBody* const softBody );
+       const btAcceleratedSoftBodyInterface * const findSoftBodyInterface( const btSoftBody* const softBody ) const;
+
+       virtual bool checkInitialized();
+
+       virtual void updateSoftBodies( );
+
+       virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies , bool forceUpdate=false);
+
+       virtual void copyBackToSoftBodies(bool bMove = true);
+
+       virtual void solveConstraints( float solverdt );
+
+       virtual void predictMotion( float solverdt );
+
+       
+       virtual void processCollision( btSoftBody *, const btCollisionObjectWrapper* );
+
+       virtual void processCollision( btSoftBody*, btSoftBody* );
+
+};
+
+
+
+/** 
+ * Class to manage movement of data from a solver to a given target.
+ * This version is the DX to CPU version.
+ */
+class btSoftBodySolverOutputDXtoCPU : public btSoftBodySolverOutput
+{
+protected:
+
+public:
+       btSoftBodySolverOutputDXtoCPU()
+       {
+       }
+
+       /** Output current computed vertex data to the vertex buffers for all cloths in the solver. */
+       virtual void copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer );
+};
+
+/** 
+ * Class to manage movement of data from a solver to a given target.
+ * This version is the DX to DX version and subclasses DX to CPU so that it works for that too.
+ */
+class btSoftBodySolverOutputDXtoDX : public btSoftBodySolverOutputDXtoCPU
+{
+protected:
+       struct OutputToVertexArrayCB
+       {
+               int startNode;
+               int numNodes;
+               int positionOffset;
+               int positionStride;
+               
+               int normalOffset;       
+               int normalStride;
+               int padding1;
+               int padding2;
+       };
+       
+       DXFunctions dxFunctions;
+       DXFunctions::KernelDesc outputToVertexArrayWithNormalsKernel;
+       DXFunctions::KernelDesc outputToVertexArrayWithoutNormalsKernel;
+
+       
+       bool m_shadersInitialized;
+
+       bool checkInitialized();
+       bool buildShaders();
+       void releaseKernels();
+
+public:
+       btSoftBodySolverOutputDXtoDX(ID3D11Device *dx11Device, ID3D11DeviceContext* dx11Context, DXFunctions::CompileFromMemoryFunc dx11CompileFromMemory = &D3DX11CompileFromMemory) :
+         dxFunctions( dx11Device, dx11Context, dx11CompileFromMemory )
+       {
+               m_shadersInitialized = false;
+       }
+
+       ~btSoftBodySolverOutputDXtoDX()
+       {
+               releaseKernels();
+       }
+
+       /** Output current computed vertex data to the vertex buffers for all cloths in the solver. */
+       virtual void copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer );
+};
+
+#endif // #ifndef BT_ACCELERATED_SOFT_BODY_DX11_SOLVER_H
+
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11SIMDAware.cpp b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11SIMDAware.cpp
new file mode 100644 (file)
index 0000000..5c73ee5
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11SIMDAware.cpp
@@ -0,0 +1,1051 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <cstdio>
+
+
+#define WAVEFRONT_SIZE 32
+#define WAVEFRONT_BLOCK_MULTIPLIER 2
+#define GROUP_SIZE (WAVEFRONT_SIZE*WAVEFRONT_BLOCK_MULTIPLIER)
+#define LINKS_PER_SIMD_LANE 16
+
+#define STRINGIFY( S ) STRINGIFY2( S )
+#define STRINGIFY2( S ) #S
+
+#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
+#include "vectormath/vmInclude.h"
+
+#include "btSoftBodySolverLinkData_DX11SIMDAware.h"
+#include "btSoftBodySolver_DX11SIMDAware.h"
+#include "btSoftBodySolverVertexBuffer_DX11.h"
+#include "BulletSoftBody/btSoftBody.h"
+#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
+
+#define MSTRINGIFY(A) #A
+static char* UpdatePositionsFromVelocitiesHLSLString = 
+#include "HLSL/UpdatePositionsFromVelocities.hlsl"
+static char* SolvePositionsSIMDBatchedHLSLString = 
+#include "HLSL/SolvePositionsSIMDBatched.hlsl"
+static char* UpdateNodesHLSLString = 
+#include "HLSL/UpdateNodes.hlsl"
+static char* UpdatePositionsHLSLString = 
+#include "HLSL/UpdatePositions.hlsl"
+static char* UpdateConstantsHLSLString = 
+#include "HLSL/UpdateConstants.hlsl"
+static char* IntegrateHLSLString = 
+#include "HLSL/Integrate.hlsl"
+static char* ApplyForcesHLSLString = 
+#include "HLSL/ApplyForces.hlsl"
+static char* UpdateNormalsHLSLString = 
+#include "HLSL/UpdateNormals.hlsl"
+static char* OutputToVertexArrayHLSLString = 
+#include "HLSL/OutputToVertexArray.hlsl"
+static char* VSolveLinksHLSLString = 
+#include "HLSL/VSolveLinks.hlsl"
+static char* ComputeBoundsHLSLString = 
+#include "HLSL/ComputeBounds.hlsl"
+static char* SolveCollisionsAndUpdateVelocitiesHLSLString =
+#include "HLSL/solveCollisionsAndUpdateVelocitiesSIMDBatched.hlsl"
+
+
+
+btSoftBodyLinkDataDX11SIMDAware::btSoftBodyLinkDataDX11SIMDAware( ID3D11Device *d3dDevice, ID3D11DeviceContext *d3dDeviceContext ) : 
+               m_d3dDevice( d3dDevice ),
+               m_d3dDeviceContext( d3dDeviceContext ),
+               m_wavefrontSize( WAVEFRONT_SIZE ),
+               m_linksPerWorkItem( LINKS_PER_SIMD_LANE ),
+               m_maxBatchesWithinWave( 0 ),
+               m_maxLinksPerWavefront( m_wavefrontSize * m_linksPerWorkItem ),
+               m_numWavefronts( 0 ),
+               m_maxVertex( 0 ),
+               m_dx11NumBatchesAndVerticesWithinWaves( d3dDevice, d3dDeviceContext, &m_numBatchesAndVerticesWithinWaves, true ),
+               m_dx11WavefrontVerticesGlobalAddresses( d3dDevice, d3dDeviceContext, &m_wavefrontVerticesGlobalAddresses, true ),
+               m_dx11LinkVerticesLocalAddresses( d3dDevice, d3dDeviceContext, &m_linkVerticesLocalAddresses, true ),
+               m_dx11LinkStrength( d3dDevice, d3dDeviceContext, &m_linkStrength, true ),
+               m_dx11LinksMassLSC( d3dDevice, d3dDeviceContext, &m_linksMassLSC, true ),
+               m_dx11LinksRestLengthSquared( d3dDevice, d3dDeviceContext, &m_linksRestLengthSquared, true ),
+               m_dx11LinksRestLength( d3dDevice, d3dDeviceContext, &m_linksRestLength, true ),
+               m_dx11LinksMaterialLinearStiffnessCoefficient( d3dDevice, d3dDeviceContext, &m_linksMaterialLinearStiffnessCoefficient, true )
+{
+       m_d3dDevice = d3dDevice;
+       m_d3dDeviceContext = d3dDeviceContext;
+}
+
+btSoftBodyLinkDataDX11SIMDAware::~btSoftBodyLinkDataDX11SIMDAware()
+{
+}
+
+static Vectormath::Aos::Vector3 toVector3( const btVector3 &vec )
+{
+       Vectormath::Aos::Vector3 outVec( vec.getX(), vec.getY(), vec.getZ() );
+       return outVec;
+}
+
+void btSoftBodyLinkDataDX11SIMDAware::createLinks( int numLinks )
+{
+       int previousSize = m_links.size();
+       int newSize = previousSize + numLinks;
+
+       btSoftBodyLinkData::createLinks( numLinks );
+
+       // Resize the link addresses array as well
+       m_linkAddresses.resize( newSize );
+}
+
+void btSoftBodyLinkDataDX11SIMDAware::setLinkAt( const btSoftBodyLinkData::LinkDescription &link, int linkIndex )
+{
+       btSoftBodyLinkData::setLinkAt( link, linkIndex );
+
+       if( link.getVertex0() > m_maxVertex )
+               m_maxVertex = link.getVertex0();
+       if( link.getVertex1() > m_maxVertex )
+               m_maxVertex = link.getVertex1();
+
+       // Set the link index correctly for initialisation
+       m_linkAddresses[linkIndex] = linkIndex;
+}
+
+bool btSoftBodyLinkDataDX11SIMDAware::onAccelerator()
+{
+       return m_onGPU;
+}
+
+bool btSoftBodyLinkDataDX11SIMDAware::moveToAccelerator()
+{
+       bool success = true;
+
+       success = success && m_dx11NumBatchesAndVerticesWithinWaves.moveToGPU();
+       success = success && m_dx11WavefrontVerticesGlobalAddresses.moveToGPU();
+       success = success && m_dx11LinkVerticesLocalAddresses.moveToGPU();
+       success = success && m_dx11LinkStrength.moveToGPU();
+       success = success && m_dx11LinksMassLSC.moveToGPU();
+       success = success && m_dx11LinksRestLengthSquared.moveToGPU();
+       success = success && m_dx11LinksRestLength.moveToGPU();
+       success = success && m_dx11LinksMaterialLinearStiffnessCoefficient.moveToGPU();
+
+       if( success )
+               m_onGPU = true;
+
+       return success;
+}
+
+bool btSoftBodyLinkDataDX11SIMDAware::moveFromAccelerator()
+{
+       bool success = true;
+       success = success && m_dx11NumBatchesAndVerticesWithinWaves.moveFromGPU();
+       success = success && m_dx11WavefrontVerticesGlobalAddresses.moveFromGPU();
+       success = success && m_dx11LinkVerticesLocalAddresses.moveFromGPU();
+       success = success && m_dx11LinkStrength.moveFromGPU();
+       success = success && m_dx11LinksMassLSC.moveFromGPU();
+       success = success && m_dx11LinksRestLengthSquared.moveFromGPU();
+       success = success && m_dx11LinksRestLength.moveFromGPU();
+       success = success && m_dx11LinksMaterialLinearStiffnessCoefficient.moveFromGPU();
+
+       if( success )
+               m_onGPU = false;
+
+       return success;
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+btDX11SIMDAwareSoftBodySolver::btDX11SIMDAwareSoftBodySolver(ID3D11Device * dx11Device, ID3D11DeviceContext* dx11Context, DXFunctions::CompileFromMemoryFunc dx11CompileFromMemory) :
+       btDX11SoftBodySolver( dx11Device, dx11Context, dx11CompileFromMemory ),
+       m_linkData(m_dx11Device, m_dx11Context)
+{
+       // Initial we will clearly need to update solver constants
+       // For now this is global for the cloths linked with this solver - we should probably make this body specific 
+       // for performance in future once we understand more clearly when constants need to be updated
+       m_updateSolverConstants = true;
+
+       m_shadersInitialized = false;
+}
+
+btDX11SIMDAwareSoftBodySolver::~btDX11SIMDAwareSoftBodySolver()
+{
+       releaseKernels();
+}
+
+
+btSoftBodyLinkData &btDX11SIMDAwareSoftBodySolver::getLinkData()
+{
+       // TODO: Consider setting link data to "changed" here
+       return m_linkData;
+}
+
+
+
+void btDX11SIMDAwareSoftBodySolver::optimize( btAlignedObjectArray< btSoftBody * > &softBodies , bool forceUpdate)
+{
+       if(forceUpdate || m_softBodySet.size() != softBodies.size() )
+       {
+               // Have a change in the soft body set so update, reloading all the data
+               getVertexData().clear();
+               getTriangleData().clear();
+               getLinkData().clear();
+               m_softBodySet.resize(0);
+
+
+               for( int softBodyIndex = 0; softBodyIndex < softBodies.size(); ++softBodyIndex )
+               {
+                       btSoftBody *softBody = softBodies[ softBodyIndex ];
+                       using Vectormath::Aos::Matrix3;
+                       using Vectormath::Aos::Point3;
+
+                       // Create SoftBody that will store the information within the solver
+                       btAcceleratedSoftBodyInterface *newSoftBody = new btAcceleratedSoftBodyInterface( softBody );
+                       m_softBodySet.push_back( newSoftBody );
+
+                       m_perClothAcceleration.push_back( toVector3(softBody->getWorldInfo()->m_gravity) );
+                       m_perClothDampingFactor.push_back(softBody->m_cfg.kDP);
+                       m_perClothVelocityCorrectionCoefficient.push_back( softBody->m_cfg.kVCF );
+                       m_perClothLiftFactor.push_back( softBody->m_cfg.kLF );
+                       m_perClothDragFactor.push_back( softBody->m_cfg.kDG );
+                       m_perClothMediumDensity.push_back(softBody->getWorldInfo()->air_density);
+                       // Simple init values. Actually we'll put 0 and -1 into them at the appropriate time
+                       m_perClothMinBounds.push_back( UIntVector3( 0, 0, 0 ) );
+                       m_perClothMaxBounds.push_back( UIntVector3( UINT_MAX, UINT_MAX, UINT_MAX ) );
+                       m_perClothFriction.push_back( softBody->getFriction() );
+                       m_perClothCollisionObjects.push_back( CollisionObjectIndices(-1, -1) );
+
+                       // Add space for new vertices and triangles in the default solver for now
+                       // TODO: Include space here for tearing too later
+                       int firstVertex = getVertexData().getNumVertices();
+                       int numVertices = softBody->m_nodes.size();
+                       // Round maxVertices to a multiple of the workgroup size so we know we're safe to run over in a given group
+                       // maxVertices can be increased to allow tearing, but should be used sparingly because these extra verts will always be processed
+                       int maxVertices = GROUP_SIZE*((numVertices+GROUP_SIZE)/GROUP_SIZE);
+                       // Allocate space for new vertices in all the vertex arrays
+                       getVertexData().createVertices( numVertices, softBodyIndex, maxVertices );
+
+                       int firstTriangle = getTriangleData().getNumTriangles();
+                       int numTriangles = softBody->m_faces.size();
+                       int maxTriangles = numTriangles;
+                       getTriangleData().createTriangles( maxTriangles );
+
+                       // Copy vertices from softbody into the solver
+                       for( int vertex = 0; vertex < numVertices; ++vertex )
+                       {
+                               Point3 multPoint(softBody->m_nodes[vertex].m_x.getX(), softBody->m_nodes[vertex].m_x.getY(), softBody->m_nodes[vertex].m_x.getZ());
+                               btSoftBodyVertexData::VertexDescription desc;
+
+                               // TODO: Position in the softbody might be pre-transformed
+                               // or we may need to adapt for the pose.
+                               //desc.setPosition( cloth.getMeshTransform()*multPoint );
+                               desc.setPosition( multPoint );
+
+                               float vertexInverseMass = softBody->m_nodes[vertex].m_im;
+                               desc.setInverseMass(vertexInverseMass);
+                               getVertexData().setVertexAt( desc, firstVertex + vertex );
+                       }
+
+                       // Copy triangles similarly
+                       // We're assuming here that vertex indices are based on the firstVertex rather than the entire scene
+                       for( int triangle = 0; triangle < numTriangles; ++triangle )
+                       {
+                               // Note that large array storage is relative to the array not to the cloth
+                               // So we need to add firstVertex to each value
+                               int vertexIndex0 = (softBody->m_faces[triangle].m_n[0] - &(softBody->m_nodes[0]));
+                               int vertexIndex1 = (softBody->m_faces[triangle].m_n[1] - &(softBody->m_nodes[0]));
+                               int vertexIndex2 = (softBody->m_faces[triangle].m_n[2] - &(softBody->m_nodes[0]));
+                               btSoftBodyTriangleData::TriangleDescription newTriangle(vertexIndex0 + firstVertex, vertexIndex1 + firstVertex, vertexIndex2 + firstVertex);
+                               getTriangleData().setTriangleAt( newTriangle, firstTriangle + triangle );
+                               
+                               // Increase vertex triangle counts for this triangle            
+                               getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex0)++;
+                               getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex1)++;
+                               getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex2)++;
+                       }
+
+                       int firstLink = getLinkData().getNumLinks();
+                       int numLinks = softBody->m_links.size();
+                       int maxLinks = numLinks;
+                       
+                       // Allocate space for the links
+                       getLinkData().createLinks( numLinks );
+
+                       // Add the links
+                       for( int link = 0; link < numLinks; ++link )
+                       {
+                               int vertexIndex0 = softBody->m_links[link].m_n[0] - &(softBody->m_nodes[0]);
+                               int vertexIndex1 = softBody->m_links[link].m_n[1] - &(softBody->m_nodes[0]);
+
+                               btSoftBodyLinkData::LinkDescription newLink(vertexIndex0 + firstVertex, vertexIndex1 + firstVertex, softBody->m_links[link].m_material->m_kLST);
+                               newLink.setLinkStrength(1.f);
+                               getLinkData().setLinkAt(newLink, firstLink + link);
+                       }
+                       
+                       newSoftBody->setFirstVertex( firstVertex );
+                       newSoftBody->setFirstTriangle( firstTriangle );
+                       newSoftBody->setNumVertices( numVertices );
+                       newSoftBody->setMaxVertices( maxVertices );
+                       newSoftBody->setNumTriangles( numTriangles );
+                       newSoftBody->setMaxTriangles( maxTriangles );
+                       newSoftBody->setFirstLink( firstLink );
+                       newSoftBody->setNumLinks( numLinks );
+               }
+
+
+
+               updateConstants(0.f);
+
+
+               m_linkData.generateBatches();           
+               m_triangleData.generateBatches();
+
+               
+               // Build the shaders to match the batching parameters
+               buildShaders();
+       }
+
+}
+
+
+
+void btDX11SIMDAwareSoftBodySolver::solveConstraints( float solverdt )
+{
+
+       //std::cerr << "'GPU' solve constraints\n";
+       using Vectormath::Aos::Vector3;
+       using Vectormath::Aos::Point3;
+       using Vectormath::Aos::lengthSqr;
+       using Vectormath::Aos::dot;
+
+       // Prepare links
+       int numLinks = m_linkData.getNumLinks();
+       int numVertices = m_vertexData.getNumVertices();
+
+       float kst = 1.f;
+       float ti = 0.f;
+
+
+       m_dx11PerClothDampingFactor.moveToGPU();
+       m_dx11PerClothVelocityCorrectionCoefficient.moveToGPU();
+
+       
+
+       // Ensure data is on accelerator
+       m_linkData.moveToAccelerator();
+       m_vertexData.moveToAccelerator();
+
+
+       
+       prepareCollisionConstraints();
+
+
+       // Solve drift
+       for( int iteration = 0; iteration < m_numberOfPositionIterations ; ++iteration )
+       {
+
+               for( int i = 0; i < m_linkData.m_wavefrontBatchStartLengths.size(); ++i )
+               {
+                       int startWave = m_linkData.m_wavefrontBatchStartLengths[i].start;
+                       int numWaves = m_linkData.m_wavefrontBatchStartLengths[i].length;
+
+                       solveLinksForPosition( startWave, numWaves, kst, ti );
+               }       
+
+       } // for( int iteration = 0; iteration < m_numberOfPositionIterations ; ++iteration )
+
+
+
+       
+       // At this point assume that the force array is blank - we will overwrite it
+       solveCollisionsAndUpdateVelocities( 1.f/solverdt );
+
+} // btDX11SIMDAwareSoftBodySolver::solveConstraints
+
+
+void btDX11SIMDAwareSoftBodySolver::updateConstants( float timeStep )
+{
+       using namespace Vectormath::Aos;
+
+       if( m_updateSolverConstants )
+       {
+               m_updateSolverConstants = false;
+
+               // Will have to redo this if we change the structure (tear, maybe) or various other possible changes
+
+               // Initialise link constants
+               const int numLinks = m_linkData.getNumLinks();
+               for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex )
+               {
+                       btSoftBodyLinkData::LinkNodePair &vertices( m_linkData.getVertexPair(linkIndex) );
+                       m_linkData.getRestLength(linkIndex) = length((m_vertexData.getPosition( vertices.vertex0 ) - m_vertexData.getPosition( vertices.vertex1 )));
+                       float invMass0 = m_vertexData.getInverseMass(vertices.vertex0);
+                       float invMass1 = m_vertexData.getInverseMass(vertices.vertex1);
+                       float linearStiffness = m_linkData.getLinearStiffnessCoefficient(linkIndex);
+                       float massLSC = (invMass0 + invMass1)/linearStiffness;
+                       m_linkData.getMassLSC(linkIndex) = massLSC;
+                       float restLength = m_linkData.getRestLength(linkIndex);
+                       float restLengthSquared = restLength*restLength;
+                       m_linkData.getRestLengthSquared(linkIndex) = restLengthSquared;
+               }
+       }
+} // btDX11SIMDAwareSoftBodySolver::updateConstants
+
+//////////////////////////////////////
+// Kernel dispatches
+
+
+void btDX11SIMDAwareSoftBodySolver::solveLinksForPosition( int startWave, int numWaves, float kst, float ti )
+{
+
+
+       m_vertexData.moveToAccelerator();
+       m_linkData.moveToAccelerator();
+
+       // Copy kernel parameters to GPU
+       SolvePositionsFromLinksKernelCB constBuffer;
+
+       // Set the first wave of the batch and the number of waves
+       constBuffer.startWave = startWave;
+       constBuffer.numWaves = numWaves;
+
+       constBuffer.kst = kst;
+       constBuffer.ti = ti;
+       
+       D3D11_MAPPED_SUBRESOURCE MappedResource = {0};
+       m_dx11Context->Map( solvePositionsFromLinksKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource );
+       memcpy( MappedResource.pData, &constBuffer, sizeof(SolvePositionsFromLinksKernelCB) );  
+       m_dx11Context->Unmap( solvePositionsFromLinksKernel.constBuffer, 0 );
+       m_dx11Context->CSSetConstantBuffers( 0, 1, &solvePositionsFromLinksKernel.constBuffer );
+
+       // Set resources and dispatch
+       m_dx11Context->CSSetShaderResources( 0, 1, &(m_linkData.m_dx11NumBatchesAndVerticesWithinWaves.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 1, 1, &(m_linkData.m_dx11WavefrontVerticesGlobalAddresses.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 2, 1, &(m_vertexData.m_dx11VertexInverseMass.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 3, 1, &(m_linkData.m_dx11LinkVerticesLocalAddresses.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 4, 1, &(m_linkData.m_dx11LinksMassLSC.getSRV()) );
+       m_dx11Context->CSSetShaderResources( 5, 1, &(m_linkData.m_dx11LinksRestLengthSquared.getSRV()) );
+       
+       m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_vertexData.m_dx11VertexPosition.getUAV()), NULL );
+
+       // Execute the kernel
+       m_dx11Context->CSSetShader( solvePositionsFromLinksKernel.kernel, NULL, 0 );
+
+       int     numBlocks = ((constBuffer.numWaves + WAVEFRONT_BLOCK_MULTIPLIER - 1) / WAVEFRONT_BLOCK_MULTIPLIER );
+       m_dx11Context->Dispatch(numBlocks , 1, 1 );
+
+       {
+               // Tidy up 
+               ID3D11ShaderResourceView* pViewNULL = NULL;
+               m_dx11Context->CSSetShaderResources( 0, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 1, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 2, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 3, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 4, 1, &pViewNULL );
+               m_dx11Context->CSSetShaderResources( 5, 1, &pViewNULL );
+
+               ID3D11UnorderedAccessView* pUAViewNULL = NULL;
+               m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL );
+
+               ID3D11Buffer *pBufferNull = NULL;
+               m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull );
+       }       
+} // btDX11SIMDAwareSoftBodySolver::solveLinksForPosition
+
+
+
+// End kernel dispatches
+/////////////////////////////////////
+
+
+
+
+
+
+
+
+
+bool btDX11SIMDAwareSoftBodySolver::buildShaders()
+{
+       // Ensure current kernels are released first
+       releaseKernels();
+
+       bool returnVal = true;
+
+
+       if( m_shadersInitialized )
+               return true;
+
+       
+       updatePositionsFromVelocitiesKernel = dxFunctions.compileComputeShaderFromString( UpdatePositionsFromVelocitiesHLSLString, "UpdatePositionsFromVelocitiesKernel", sizeof(UpdatePositionsFromVelocitiesCB) );
+       if( !updatePositionsFromVelocitiesKernel.constBuffer )
+               returnVal = false;
+       
+       char maxVerticesPerWavefront[20];
+       char maxBatchesPerWavefront[20];
+       char waveFrontSize[20];
+       char waveFrontBlockMultiplier[20];
+       char blockSize[20];
+
+       sprintf(maxVerticesPerWavefront, "%d", m_linkData.getMaxVerticesPerWavefront());
+       sprintf(maxBatchesPerWavefront, "%d", m_linkData.getMaxBatchesPerWavefront());
+       sprintf(waveFrontSize, "%d", m_linkData.getWavefrontSize());    
+       sprintf(waveFrontBlockMultiplier, "%d", WAVEFRONT_BLOCK_MULTIPLIER);
+       sprintf(blockSize, "%d", WAVEFRONT_BLOCK_MULTIPLIER*m_linkData.getWavefrontSize());
+       
+       D3D10_SHADER_MACRO solvePositionsMacros[6] = { "MAX_NUM_VERTICES_PER_WAVE", maxVerticesPerWavefront, "MAX_BATCHES_PER_WAVE", maxBatchesPerWavefront, "WAVEFRONT_SIZE", waveFrontSize, "WAVEFRONT_BLOCK_MULTIPLIER", waveFrontBlockMultiplier, "BLOCK_SIZE", blockSize, 0, 0 };
+
+       solvePositionsFromLinksKernel = dxFunctions.compileComputeShaderFromString( SolvePositionsSIMDBatchedHLSLString, "SolvePositionsFromLinksKernel", sizeof(SolvePositionsFromLinksKernelCB), solvePositionsMacros );
+       if( !solvePositionsFromLinksKernel.constBuffer )
+               returnVal = false;
+
+       updateVelocitiesFromPositionsWithVelocitiesKernel = dxFunctions.compileComputeShaderFromString( UpdateNodesHLSLString, "updateVelocitiesFromPositionsWithVelocitiesKernel", sizeof(UpdateVelocitiesFromPositionsWithVelocitiesCB) );
+       if( !updateVelocitiesFromPositionsWithVelocitiesKernel.constBuffer )
+               returnVal = false;
+       updateVelocitiesFromPositionsWithoutVelocitiesKernel = dxFunctions.compileComputeShaderFromString( UpdatePositionsHLSLString, "updateVelocitiesFromPositionsWithoutVelocitiesKernel", sizeof(UpdateVelocitiesFromPositionsWithoutVelocitiesCB));
+       if( !updateVelocitiesFromPositionsWithoutVelocitiesKernel.constBuffer )
+               returnVal = false;
+       integrateKernel = dxFunctions.compileComputeShaderFromString( IntegrateHLSLString, "IntegrateKernel", sizeof(IntegrateCB) );
+       if( !integrateKernel.constBuffer )
+               returnVal = false;
+       applyForcesKernel = dxFunctions.compileComputeShaderFromString( ApplyForcesHLSLString, "ApplyForcesKernel", sizeof(ApplyForcesCB) );
+       if( !applyForcesKernel.constBuffer )
+               returnVal = false;
+       solveCollisionsAndUpdateVelocitiesKernel = dxFunctions.compileComputeShaderFromString( SolveCollisionsAndUpdateVelocitiesHLSLString, "SolveCollisionsAndUpdateVelocitiesKernel", sizeof(SolveCollisionsAndUpdateVelocitiesCB) );
+       if( !solveCollisionsAndUpdateVelocitiesKernel.constBuffer )
+               returnVal = false;
+       resetNormalsAndAreasKernel = dxFunctions.compileComputeShaderFromString( UpdateNormalsHLSLString, "ResetNormalsAndAreasKernel", sizeof(UpdateSoftBodiesCB) );
+       if( !resetNormalsAndAreasKernel.constBuffer )
+               returnVal = false;
+       normalizeNormalsAndAreasKernel = dxFunctions.compileComputeShaderFromString( UpdateNormalsHLSLString, "NormalizeNormalsAndAreasKernel", sizeof(UpdateSoftBodiesCB) );
+       if( !normalizeNormalsAndAreasKernel.constBuffer )
+               returnVal = false;
+       updateSoftBodiesKernel = dxFunctions.compileComputeShaderFromString( UpdateNormalsHLSLString, "UpdateSoftBodiesKernel", sizeof(UpdateSoftBodiesCB) );
+       if( !updateSoftBodiesKernel.constBuffer )
+               returnVal = false;
+       
+       computeBoundsKernel = dxFunctions.compileComputeShaderFromString( ComputeBoundsHLSLString, "ComputeBoundsKernel", sizeof(ComputeBoundsCB) );
+       if( !computeBoundsKernel.constBuffer )
+               returnVal = false;
+
+       if( returnVal )
+               m_shadersInitialized = true;
+
+       return returnVal;
+} // btDX11SIMDAwareSoftBodySolver::buildShaders
+
+static Vectormath::Aos::Transform3 toTransform3( const btTransform &transform )
+{
+       Vectormath::Aos::Transform3 outTransform;
+       outTransform.setCol(0, toVector3(transform.getBasis().getColumn(0)));
+       outTransform.setCol(1, toVector3(transform.getBasis().getColumn(1)));
+       outTransform.setCol(2, toVector3(transform.getBasis().getColumn(2)));
+       outTransform.setCol(3, toVector3(transform.getOrigin()));
+       return outTransform;    
+}
+
+
+
+
+
+
+
+
+
+
+
+
+static void generateBatchesOfWavefronts( btAlignedObjectArray < btAlignedObjectArray <int> > &linksForWavefronts, btSoftBodyLinkData &linkData, int numVertices, btAlignedObjectArray < btAlignedObjectArray <int> > &wavefrontBatches )
+{
+       // A per-batch map of truth values stating whether a given vertex is in that batch
+       // This allows us to significantly optimize the batching
+       btAlignedObjectArray <btAlignedObjectArray<bool> > mapOfVerticesInBatches;
+
+       for( int waveIndex = 0; waveIndex < linksForWavefronts.size(); ++waveIndex )
+       {
+               btAlignedObjectArray <int> &wavefront( linksForWavefronts[waveIndex] );
+
+               int batch = 0;
+               bool placed = false;
+               while( batch < wavefrontBatches.size() && !placed )
+               {
+                       // Test the current batch, see if this wave shares any vertex with the waves in the batch
+                       bool foundSharedVertex = false;
+                       for( int link = 0; link < wavefront.size(); ++link )
+                       {
+                               btSoftBodyLinkData::LinkNodePair vertices = linkData.getVertexPair( wavefront[link] );
+                               if( (mapOfVerticesInBatches[batch])[vertices.vertex0] || (mapOfVerticesInBatches[batch])[vertices.vertex1] )
+                               {
+                                       foundSharedVertex = true;
+                               }
+                       }
+
+                       if( !foundSharedVertex )
+                       {
+                               wavefrontBatches[batch].push_back( waveIndex ); 
+                               // Insert vertices into this batch too
+                               for( int link = 0; link < wavefront.size(); ++link )
+                               {
+                                       btSoftBodyLinkData::LinkNodePair vertices = linkData.getVertexPair( wavefront[link] );
+                                       (mapOfVerticesInBatches[batch])[vertices.vertex0] = true;
+                                       (mapOfVerticesInBatches[batch])[vertices.vertex1] = true;
+                               }
+                               placed = true;
+                       }
+                       batch++;
+               }
+               if( batch == wavefrontBatches.size() && !placed )
+               {
+                       wavefrontBatches.resize( batch + 1 );
+                       wavefrontBatches[batch].push_back( waveIndex );
+
+                       // And resize map as well
+                       mapOfVerticesInBatches.resize( batch + 1 );
+                       
+                       // Resize maps with total number of vertices
+                       mapOfVerticesInBatches[batch].resize( numVertices+1, false );
+
+                       // Insert vertices into this batch too
+                       for( int link = 0; link < wavefront.size(); ++link )
+                       {
+                               btSoftBodyLinkData::LinkNodePair vertices = linkData.getVertexPair( wavefront[link] );
+                               (mapOfVerticesInBatches[batch])[vertices.vertex0] = true;
+                               (mapOfVerticesInBatches[batch])[vertices.vertex1] = true;
+                       }
+               }
+       }
+       mapOfVerticesInBatches.clear();
+}
+
+// Function to remove an object from a vector maintaining correct ordering of the vector
+template< typename T > static void removeFromVector( btAlignedObjectArray< T > &vectorToUpdate, int indexToRemove )
+{
+       int currentSize = vectorToUpdate.size();
+       for( int i = indexToRemove; i < (currentSize-1); ++i )
+       {
+               vectorToUpdate[i] = vectorToUpdate[i+1];
+       }
+       if( currentSize > 0 )
+               vectorToUpdate.resize( currentSize - 1 );
+}
+
+/**
+ * Insert element into vectorToUpdate at index index.
+ */
+template< typename T > static void insertAtIndex( btAlignedObjectArray< T > &vectorToUpdate, int index, T element )
+{
+       vectorToUpdate.resize( vectorToUpdate.size() + 1 );
+       for( int i = (vectorToUpdate.size() - 1); i > index; --i )
+       {
+               vectorToUpdate[i] = vectorToUpdate[i-1];
+       }
+       vectorToUpdate[index] = element;
+}
+
+/** 
+ * Insert into btAlignedObjectArray assuming the array is ordered and maintaining both ordering and uniqueness.
+ * ie it treats vectorToUpdate as an ordered set.
+ */
+template< typename T > static void insertUniqueAndOrderedIntoVector( btAlignedObjectArray<T> &vectorToUpdate, T element )
+{
+       int index = 0;
+       while( index < vectorToUpdate.size() && vectorToUpdate[index] < element )
+       {
+               index++;
+       }
+       if( index == vectorToUpdate.size() || vectorToUpdate[index] != element )
+               insertAtIndex( vectorToUpdate, index, element );
+}
+
+static void generateLinksPerVertex( int numVertices, btSoftBodyLinkData &linkData, btAlignedObjectArray< int > &listOfLinksPerVertex, btAlignedObjectArray <int> &numLinksPerVertex, int &maxLinks )
+{
+       for( int linkIndex = 0; linkIndex < linkData.getNumLinks(); ++linkIndex )
+       {
+               btSoftBodyLinkData::LinkNodePair nodes( linkData.getVertexPair(linkIndex) );
+               numLinksPerVertex[nodes.vertex0]++;
+               numLinksPerVertex[nodes.vertex1]++;
+       }
+       int maxLinksPerVertex = 0;
+       for( int vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex )
+       {
+               maxLinksPerVertex = btMax(numLinksPerVertex[vertexIndex], maxLinksPerVertex);
+       }
+       maxLinks = maxLinksPerVertex;
+
+       btAlignedObjectArray< int > linksFoundPerVertex;
+       linksFoundPerVertex.resize( numVertices, 0 );
+
+       listOfLinksPerVertex.resize( maxLinksPerVertex * numVertices );
+
+       for( int linkIndex = 0; linkIndex < linkData.getNumLinks(); ++linkIndex )
+       {
+               btSoftBodyLinkData::LinkNodePair nodes( linkData.getVertexPair(linkIndex) );
+               {
+                       // Do vertex 0
+                       int vertexIndex = nodes.vertex0;
+                       int linkForVertex = linksFoundPerVertex[nodes.vertex0];
+                       int linkAddress = vertexIndex * maxLinksPerVertex + linkForVertex;
+
+                       listOfLinksPerVertex[linkAddress] = linkIndex;
+
+                       linksFoundPerVertex[nodes.vertex0] = linkForVertex + 1;
+               }
+               {
+                       // Do vertex 1
+                       int vertexIndex = nodes.vertex1;
+                       int linkForVertex = linksFoundPerVertex[nodes.vertex1];
+                       int linkAddress = vertexIndex * maxLinksPerVertex + linkForVertex;
+
+                       listOfLinksPerVertex[linkAddress] = linkIndex;
+
+                       linksFoundPerVertex[nodes.vertex1] = linkForVertex + 1;
+               }
+       }
+}
+
+static void computeBatchingIntoWavefronts( 
+       btSoftBodyLinkData &linkData, 
+       int wavefrontSize, 
+       int linksPerWorkItem, 
+       int maxLinksPerWavefront, 
+       btAlignedObjectArray < btAlignedObjectArray <int> > &linksForWavefronts, 
+       btAlignedObjectArray< btAlignedObjectArray < btAlignedObjectArray <int> > > &batchesWithinWaves, /* wave, batch, links in batch */
+       btAlignedObjectArray< btAlignedObjectArray< int > > &verticesForWavefronts /* wavefront, vertex */
+       )
+{
+       
+
+       // Attempt generation of larger batches of links.
+       btAlignedObjectArray< bool > processedLink;
+       processedLink.resize( linkData.getNumLinks() );
+       btAlignedObjectArray< int > listOfLinksPerVertex;
+       int maxLinksPerVertex = 0;
+
+       // Count num vertices
+       int numVertices = 0;
+       for( int linkIndex = 0; linkIndex < linkData.getNumLinks(); ++linkIndex )
+       {
+               btSoftBodyLinkData::LinkNodePair nodes( linkData.getVertexPair(linkIndex) );
+               numVertices = btMax( numVertices, nodes.vertex0 + 1 );
+               numVertices = btMax( numVertices, nodes.vertex1 + 1 );
+       }
+
+       // Need list of links per vertex
+       // Compute valence of each vertex
+       btAlignedObjectArray <int> numLinksPerVertex;
+       numLinksPerVertex.resize(0);
+       numLinksPerVertex.resize( numVertices, 0 );
+
+       generateLinksPerVertex( numVertices, linkData, listOfLinksPerVertex, numLinksPerVertex, maxLinksPerVertex );
+
+
+       // At this point we know what links we have for each vertex so we can start batching
+       
+       // We want a vertex to start with, let's go with 0
+       int currentVertex = 0;
+       int linksProcessed = 0;
+
+       btAlignedObjectArray <int> verticesToProcess;
+
+       while( linksProcessed < linkData.getNumLinks() )
+       {
+               // Next wavefront
+               int nextWavefront = linksForWavefronts.size();
+               linksForWavefronts.resize( nextWavefront + 1 );
+               btAlignedObjectArray <int> &linksForWavefront(linksForWavefronts[nextWavefront]);
+               verticesForWavefronts.resize( nextWavefront + 1 );
+               btAlignedObjectArray<int> &vertexSet( verticesForWavefronts[nextWavefront] );
+
+               linksForWavefront.resize(0);
+
+               // Loop to find enough links to fill the wavefront
+               // Stopping if we either run out of links, or fill it
+               while( linksProcessed < linkData.getNumLinks() && linksForWavefront.size() < maxLinksPerWavefront )
+               {
+                       // Go through the links for the current vertex
+                       for( int link = 0; link < numLinksPerVertex[currentVertex] && linksForWavefront.size() < maxLinksPerWavefront; ++link )
+                       {
+                               int linkAddress = currentVertex * maxLinksPerVertex + link;
+                               int linkIndex = listOfLinksPerVertex[linkAddress];
+                               
+                               // If we have not already processed this link, add it to the wavefront
+                               // Claim it as another processed link
+                               // Add the vertex at the far end to the list of vertices to process.
+                               if( !processedLink[linkIndex] )
+                               {
+                                       linksForWavefront.push_back( linkIndex );
+                                       linksProcessed++;
+                                       processedLink[linkIndex] = true;
+                                       int v0 = linkData.getVertexPair(linkIndex).vertex0;
+                                       int v1 = linkData.getVertexPair(linkIndex).vertex1;
+                                       if( v0 == currentVertex )
+                                               verticesToProcess.push_back( v1 );
+                                       else
+                                               verticesToProcess.push_back( v0 );
+                               }
+                       }
+                       if( verticesToProcess.size() > 0 )
+                       {
+                               // Get the element on the front of the queue and remove it
+                               currentVertex = verticesToProcess[0];
+                               removeFromVector( verticesToProcess, 0 );
+                       } else {                
+                               // If we've not yet processed all the links, find the first unprocessed one
+                               // and select one of its vertices as the current vertex
+                               if( linksProcessed < linkData.getNumLinks() )
+                               {
+                                       int searchLink = 0;
+                                       while( processedLink[searchLink] )
+                                               searchLink++;
+                                       currentVertex = linkData.getVertexPair(searchLink).vertex0;
+                               }       
+                       }
+               }
+
+               // We have either finished or filled a wavefront
+               for( int link = 0; link < linksForWavefront.size(); ++link )
+               {
+                       int v0 = linkData.getVertexPair( linksForWavefront[link] ).vertex0;
+                       int v1 = linkData.getVertexPair( linksForWavefront[link] ).vertex1;
+                       insertUniqueAndOrderedIntoVector( vertexSet, v0 );
+                       insertUniqueAndOrderedIntoVector( vertexSet, v1 );
+               }
+               // Iterate over links mapped to the wave and batch those
+               // We can run a batch on each cycle trivially
+               
+               batchesWithinWaves.resize( batchesWithinWaves.size() + 1 );
+               btAlignedObjectArray < btAlignedObjectArray <int> > &batchesWithinWave( batchesWithinWaves[batchesWithinWaves.size()-1] );
+               
+
+               for( int link = 0; link < linksForWavefront.size(); ++link )
+               {
+                       int linkIndex = linksForWavefront[link];
+                       btSoftBodyLinkData::LinkNodePair vertices = linkData.getVertexPair( linkIndex );
+                       
+                       int batch = 0;
+                       bool placed = false;
+                       while( batch < batchesWithinWave.size() && !placed )
+                       {
+                               bool foundSharedVertex = false;
+                               if( batchesWithinWave[batch].size() >= wavefrontSize )
+                               {
+                                       // If we have already filled this batch, move on to another
+                                       foundSharedVertex = true;
+                               } else {
+                                       for( int link2 = 0; link2 < batchesWithinWave[batch].size(); ++link2 )
+                                       {
+                                               btSoftBodyLinkData::LinkNodePair vertices2 = linkData.getVertexPair( (batchesWithinWave[batch])[link2] );
+
+                                               if( vertices.vertex0 == vertices2.vertex0 ||
+                                                       vertices.vertex1 == vertices2.vertex0 ||
+                                                       vertices.vertex0 == vertices2.vertex1 ||
+                                                       vertices.vertex1 == vertices2.vertex1 )
+                                               {
+                                                       foundSharedVertex = true;
+                                                       break;
+                                               }
+                                       }
+                               }
+                               if( !foundSharedVertex )
+                               {
+                                       batchesWithinWave[batch].push_back( linkIndex );
+                                       placed = true;
+                               } else {
+                                       ++batch;
+                               }
+                       }
+                       if( batch == batchesWithinWave.size() && !placed )
+                       {
+                               batchesWithinWave.resize( batch + 1 );
+                               batchesWithinWave[batch].push_back( linkIndex );
+                       }
+               }
+               
+       }
+
+}
+
+void btSoftBodyLinkDataDX11SIMDAware::generateBatches()
+{
+       btAlignedObjectArray < btAlignedObjectArray <int> > linksForWavefronts;
+       btAlignedObjectArray < btAlignedObjectArray <int> > wavefrontBatches;
+       btAlignedObjectArray< btAlignedObjectArray < btAlignedObjectArray <int> > > batchesWithinWaves;
+       btAlignedObjectArray< btAlignedObjectArray< int > > verticesForWavefronts; // wavefronts, vertices in wavefront as an ordered set
+
+       // Group the links into wavefronts
+       computeBatchingIntoWavefronts( *this, m_wavefrontSize, m_linksPerWorkItem, m_maxLinksPerWavefront, linksForWavefronts, batchesWithinWaves, verticesForWavefronts );
+
+
+       // Batch the wavefronts
+       generateBatchesOfWavefronts( linksForWavefronts, *this, m_maxVertex, wavefrontBatches );
+
+       m_numWavefronts = linksForWavefronts.size();
+
+       // At this point we have a description of which links we need to process in each wavefront
+
+       // First correctly fill the batch ranges vector
+       int numBatches = wavefrontBatches.size();
+       m_wavefrontBatchStartLengths.resize(0);
+       int prefixSum = 0;
+       for( int batchIndex = 0; batchIndex < numBatches; ++batchIndex )
+       {
+               int wavesInBatch = wavefrontBatches[batchIndex].size();
+               int nextPrefixSum = prefixSum + wavesInBatch;
+               m_wavefrontBatchStartLengths.push_back( BatchPair( prefixSum, nextPrefixSum - prefixSum ) );
+
+               prefixSum += wavesInBatch;
+       }
+       
+       // Also find max number of batches within a wave
+       m_maxBatchesWithinWave = 0;
+       m_maxVerticesWithinWave = 0;
+       m_numBatchesAndVerticesWithinWaves.resize( m_numWavefronts );
+       for( int waveIndex = 0; waveIndex < m_numWavefronts; ++waveIndex )
+       {
+               // See if the number of batches in this wave is greater than the current maxium
+               int batchesInCurrentWave = batchesWithinWaves[waveIndex].size();
+               int verticesInCurrentWave = verticesForWavefronts[waveIndex].size();
+               m_maxBatchesWithinWave = btMax( batchesInCurrentWave, m_maxBatchesWithinWave );
+               m_maxVerticesWithinWave = btMax( verticesInCurrentWave, m_maxVerticesWithinWave );
+       }
+       
+       // Add padding values both for alignment and as dudd addresses within LDS to compute junk rather than branch around
+       m_maxVerticesWithinWave = 16*((m_maxVerticesWithinWave/16)+2);
+
+       // Now we know the maximum number of vertices per-wave we can resize the global vertices array
+       m_wavefrontVerticesGlobalAddresses.resize( m_maxVerticesWithinWave * m_numWavefronts );
+
+       // Grab backup copies of all the link data arrays for the sorting process
+       btAlignedObjectArray<btSoftBodyLinkData::LinkNodePair>                          m_links_Backup(m_links);
+       btAlignedObjectArray<float>                                                                                     m_linkStrength_Backup(m_linkStrength);
+       btAlignedObjectArray<float>                                                                                     m_linksMassLSC_Backup(m_linksMassLSC);
+       btAlignedObjectArray<float>                                                                                     m_linksRestLengthSquared_Backup(m_linksRestLengthSquared);
+       //btAlignedObjectArray<Vectormath::Aos::Vector3>                                                m_linksCLength_Backup(m_linksCLength);
+       //btAlignedObjectArray<float>                                                                                   m_linksLengthRatio_Backup(m_linksLengthRatio);
+       btAlignedObjectArray<float>                                                                                     m_linksRestLength_Backup(m_linksRestLength);
+       btAlignedObjectArray<float>                                                                                     m_linksMaterialLinearStiffnessCoefficient_Backup(m_linksMaterialLinearStiffnessCoefficient);
+
+       // Resize to a wavefront sized batch per batch per wave so we get perfectly coherent memory accesses.
+       m_links.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts );
+       m_linkVerticesLocalAddresses.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts );
+       m_linkStrength.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts );
+       m_linksMassLSC.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts );
+       m_linksRestLengthSquared.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts );
+       m_linksRestLength.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts );
+       m_linksMaterialLinearStiffnessCoefficient.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts ); 
+               
+       // Then re-order links into wavefront blocks
+
+       // Total number of wavefronts moved. This will decide the ordering of sorted wavefronts.
+       int wavefrontCount = 0;
+
+       // Iterate over batches of wavefronts, then wavefronts in the batch
+       for( int batchIndex = 0; batchIndex < numBatches; ++batchIndex )
+       {
+               btAlignedObjectArray <int> &batch( wavefrontBatches[batchIndex] );
+               int wavefrontsInBatch = batch.size();
+
+               
+               for( int wavefrontIndex = 0; wavefrontIndex < wavefrontsInBatch; ++wavefrontIndex )
+               {       
+
+                       int originalWavefrontIndex = batch[wavefrontIndex];
+                       btAlignedObjectArray< int > &wavefrontVertices( verticesForWavefronts[originalWavefrontIndex] );
+                       int verticesUsedByWavefront = wavefrontVertices.size();
+
+                       // Copy the set of vertices into the correctly structured array for use on the device
+                       // Fill the non-vertices with -1s
+                       // so we can mask out those reads
+                       for( int vertex = 0; vertex < verticesUsedByWavefront; ++vertex )
+                       {
+                               m_wavefrontVerticesGlobalAddresses[m_maxVerticesWithinWave * wavefrontCount + vertex] = wavefrontVertices[vertex];
+                       }
+                       for( int vertex = verticesUsedByWavefront; vertex < m_maxVerticesWithinWave; ++vertex )
+                       {
+                               m_wavefrontVerticesGlobalAddresses[m_maxVerticesWithinWave * wavefrontCount + vertex] = -1;
+                       }
+
+                       // Obtain the set of batches within the current wavefront
+                       btAlignedObjectArray < btAlignedObjectArray <int> > &batchesWithinWavefront( batchesWithinWaves[originalWavefrontIndex] );
+                       // Set the size of the batches for use in the solver, correctly ordered
+                       NumBatchesVerticesPair batchesAndVertices;
+                       batchesAndVertices.numBatches = batchesWithinWavefront.size();
+                       batchesAndVertices.numVertices = verticesUsedByWavefront;
+                       m_numBatchesAndVerticesWithinWaves[wavefrontCount] = batchesAndVertices;
+                       
+
+                       // Now iterate over batches within the wavefront to structure the links correctly
+                       for( int wavefrontBatch = 0; wavefrontBatch < batchesWithinWavefront.size(); ++wavefrontBatch )
+                       {
+                               btAlignedObjectArray <int> &linksInBatch( batchesWithinWavefront[wavefrontBatch] );
+                               int wavefrontBatchSize = linksInBatch.size();
+
+                               int batchAddressInTarget = m_maxBatchesWithinWave * m_wavefrontSize * wavefrontCount + m_wavefrontSize * wavefrontBatch;
+
+                               for( int linkIndex = 0; linkIndex < wavefrontBatchSize; ++linkIndex )
+                               {
+                                       int originalLinkAddress = linksInBatch[linkIndex];
+                                       // Reorder simple arrays trivially
+                                       m_links[batchAddressInTarget + linkIndex] = m_links_Backup[originalLinkAddress];
+                                       m_linkStrength[batchAddressInTarget + linkIndex] = m_linkStrength_Backup[originalLinkAddress];
+                                       m_linksMassLSC[batchAddressInTarget + linkIndex] = m_linksMassLSC_Backup[originalLinkAddress];
+                                       m_linksRestLengthSquared[batchAddressInTarget + linkIndex] = m_linksRestLengthSquared_Backup[originalLinkAddress];
+                                       m_linksRestLength[batchAddressInTarget + linkIndex] = m_linksRestLength_Backup[originalLinkAddress];
+                                       m_linksMaterialLinearStiffnessCoefficient[batchAddressInTarget + linkIndex] = m_linksMaterialLinearStiffnessCoefficient_Backup[originalLinkAddress];
+
+                                       // The local address is more complicated. We need to work out where a given vertex will end up
+                                       // by searching the set of vertices for this link and using the index as the local address
+                                       btSoftBodyLinkData::LinkNodePair localPair;
+                                       btSoftBodyLinkData::LinkNodePair globalPair = m_links[batchAddressInTarget + linkIndex];
+                                       localPair.vertex0 = wavefrontVertices.findLinearSearch( globalPair.vertex0 );
+                                       localPair.vertex1 = wavefrontVertices.findLinearSearch( globalPair.vertex1 );
+                                       m_linkVerticesLocalAddresses[batchAddressInTarget + linkIndex] = localPair;
+                               }
+                               for( int linkIndex = wavefrontBatchSize; linkIndex < m_wavefrontSize; ++linkIndex )
+                               {
+                                       // Put 0s into these arrays for padding for cleanliness
+                                       m_links[batchAddressInTarget + linkIndex] = btSoftBodyLinkData::LinkNodePair(0, 0);
+                                       m_linkStrength[batchAddressInTarget + linkIndex] = 0.f;
+                                       m_linksMassLSC[batchAddressInTarget + linkIndex] = 0.f;
+                                       m_linksRestLengthSquared[batchAddressInTarget + linkIndex] = 0.f;
+                                       m_linksRestLength[batchAddressInTarget + linkIndex] = 0.f;
+                                       m_linksMaterialLinearStiffnessCoefficient[batchAddressInTarget + linkIndex] = 0.f;
+
+
+                                       // For local addresses of junk data choose a set of addresses just above the range of valid ones 
+                                       // and cycling tyhrough % 16 so that we don't have bank conficts between all dud addresses
+                                       // The valid addresses will do scatter and gather in the valid range, the junk ones should happily work
+                                       // off the end of that range so we need no control
+                                       btSoftBodyLinkData::LinkNodePair localPair;
+                                       localPair.vertex0 = verticesUsedByWavefront + (linkIndex % 16);
+                                       localPair.vertex1 = verticesUsedByWavefront + (linkIndex % 16);
+                                       m_linkVerticesLocalAddresses[batchAddressInTarget + linkIndex] = localPair;
+                               }
+
+                       }
+
+                       
+                       wavefrontCount++;
+               }
+
+       
+       }
+
+} // void btSoftBodyLinkDataDX11SIMDAware::generateBatches()

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11SIMDAware.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11SIMDAware.h
new file mode 100644 (file)
index 0000000..3488197
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11SIMDAware.h
@@ -0,0 +1,81 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "vectormath/vmInclude.h"
+#include "btSoftBodySolver_DX11.h"
+#include "btSoftBodySolverVertexBuffer_DX11.h"
+#include "btSoftBodySolverLinkData_DX11SIMDAware.h"
+#include "btSoftBodySolverVertexData_DX11.h"
+#include "btSoftBodySolverTriangleData_DX11.h"
+
+
+#ifndef BT_SOFT_BODY_DX11_SOLVER_SIMDAWARE_H
+#define BT_SOFT_BODY_DX11_SOLVER_SIMDAWARE_H
+
+class btDX11SIMDAwareSoftBodySolver : public btDX11SoftBodySolver
+{
+protected:
+       struct SolvePositionsFromLinksKernelCB
+       {               
+               int startWave;
+               int numWaves;
+               float kst;
+               float ti;
+       };
+
+
+       /** Link data for all cloths. Note that this will be sorted batch-wise for efficient computation and m_linkAddresses will maintain the addressing. */
+       btSoftBodyLinkDataDX11SIMDAware m_linkData;
+               
+       /** Variable to define whether we need to update solver constants on the next iteration */
+       bool m_updateSolverConstants;
+
+       
+       virtual bool buildShaders();
+
+       void updateConstants( float timeStep );
+
+
+       //////////////////////////////////////
+       // Kernel dispatches
+       
+
+       void solveLinksForPosition( int startLink, int numLinks, float kst, float ti );
+
+       // End kernel dispatches
+       /////////////////////////////////////
+
+
+
+public:
+       btDX11SIMDAwareSoftBodySolver(ID3D11Device * dx11Device, ID3D11DeviceContext* dx11Context, DXFunctions::CompileFromMemoryFunc dx11CompileFromMemory = &D3DX11CompileFromMemory);
+
+       virtual ~btDX11SIMDAwareSoftBodySolver();
+
+       virtual btSoftBodyLinkData &getLinkData();
+
+       virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies , bool forceUpdate=false);
+
+       virtual void solveConstraints( float solverdt );
+       
+       virtual SolverTypes getSolverType() const
+       {
+               return DX_SIMD_SOLVER;
+       }
+       
+};
+
+#endif // #ifndef BT_SOFT_BODY_DX11_SOLVER_SIMDAWARE_H
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/premake4.lua b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/premake4.lua
new file mode 100644 (file)
index 0000000..4625306
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/premake4.lua
@@ -0,0 +1,23 @@
+       
+hasDX11 = findDirectX11()
+       
+if (hasDX11) then
+       
+       project "BulletSoftBodyDX11Solvers"
+               
+  initDirectX11()
+       
+       kind "StaticLib"
+       
+       targetdir "../../../../lib"
+       
+       includedirs {
+               ".",
+               "../../.."
+       }
+       files {
+               "**.cpp",
+               "**.h"
+       }
+
+end

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/Makefile b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/Makefile
new file mode 100644 (file)
index 0000000..218961a
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/Makefile
@@ -0,0 +1,167 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+# Default target executed when no arguments are given to make.
+default_target: all
+.PHONY : default_target
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canoncical targets will work.
+.SUFFIXES:
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+# A target that is always out of date.
+cmake_force:
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
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+
+# The command to remove a file.
+RM = "/Applications/CMake 2.8-6.app/Contents/bin/cmake" -E remove -f
+
+# The program to use to edit the cache.
+CMAKE_EDIT_COMMAND = "/Applications/CMake 2.8-6.app/Contents/bin/ccmake"
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx
+
+#=============================================================================
+# Targets provided globally by CMake.
+
+# Special rule for the target edit_cache
+edit_cache:
+       @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake cache editor..."
+       "/Applications/CMake 2.8-6.app/Contents/bin/ccmake" -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
+.PHONY : edit_cache
+
+# Special rule for the target edit_cache
+edit_cache/fast: edit_cache
+.PHONY : edit_cache/fast
+
+# Special rule for the target install
+install: preinstall
+       @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
+       "/Applications/CMake 2.8-6.app/Contents/bin/cmake" -P cmake_install.cmake
+.PHONY : install
+
+# Special rule for the target install
+install/fast: preinstall/fast
+       @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
+       "/Applications/CMake 2.8-6.app/Contents/bin/cmake" -P cmake_install.cmake
+.PHONY : install/fast
+
+# Special rule for the target install/local
+install/local: preinstall
+       @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..."
+       "/Applications/CMake 2.8-6.app/Contents/bin/cmake" -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake
+.PHONY : install/local
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+install/local/fast: install/local
+.PHONY : install/local/fast
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+install/strip: preinstall
+       @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..."
+       "/Applications/CMake 2.8-6.app/Contents/bin/cmake" -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
+.PHONY : install/strip
+
+# Special rule for the target install/strip
+install/strip/fast: install/strip
+.PHONY : install/strip/fast
+
+# Special rule for the target list_install_components
+list_install_components:
+       @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Available install components are: \"Unspecified\""
+.PHONY : list_install_components
+
+# Special rule for the target list_install_components
+list_install_components/fast: list_install_components
+.PHONY : list_install_components/fast
+
+# Special rule for the target rebuild_cache
+rebuild_cache:
+       @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..."
+       "/Applications/CMake 2.8-6.app/Contents/bin/cmake" -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
+.PHONY : rebuild_cache
+
+# Special rule for the target rebuild_cache
+rebuild_cache/fast: rebuild_cache
+.PHONY : rebuild_cache/fast
+
+# The main all target
+all: cmake_check_build_system
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(CMAKE_COMMAND) -E cmake_progress_start /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/CMakeFiles /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/BulletMultiThreaded/GpuSoftBodySolvers/CMakeFiles/progress.marks
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f CMakeFiles/Makefile2 src/BulletMultiThreaded/GpuSoftBodySolvers/all
+       $(CMAKE_COMMAND) -E cmake_progress_start /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/CMakeFiles 0
+.PHONY : all
+
+# The main clean target
+clean:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f CMakeFiles/Makefile2 src/BulletMultiThreaded/GpuSoftBodySolvers/clean
+.PHONY : clean
+
+# The main clean target
+clean/fast: clean
+.PHONY : clean/fast
+
+# Prepare targets for installation.
+preinstall: all
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f CMakeFiles/Makefile2 src/BulletMultiThreaded/GpuSoftBodySolvers/preinstall
+.PHONY : preinstall
+
+# Prepare targets for installation.
+preinstall/fast:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f CMakeFiles/Makefile2 src/BulletMultiThreaded/GpuSoftBodySolvers/preinstall
+.PHONY : preinstall/fast
+
+# clear depends
+depend:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
+.PHONY : depend
+
+# Help Target
+help:
+       @echo "The following are some of the valid targets for this Makefile:"
+       @echo "... all (the default if no target is provided)"
+       @echo "... clean"
+       @echo "... depend"
+       @echo "... edit_cache"
+       @echo "... install"
+       @echo "... install/local"
+       @echo "... install/strip"
+       @echo "... list_install_components"
+       @echo "... rebuild_cache"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/AMD/CMakeLists.txt b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/AMD/CMakeLists.txt
new file mode 100644 (file)
index 0000000..9826f63
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/AMD/CMakeLists.txt
@@ -0,0 +1,62 @@
+
+INCLUDE_DIRECTORIES(
+       ${BULLET_PHYSICS_SOURCE_DIR}/src
+       ${AMD_OPENCL_INCLUDES}
+)
+
+ADD_DEFINITIONS(-DUSE_AMD_OPENCL)
+ADD_DEFINITIONS(-DCL_PLATFORM_AMD)
+
+
+
+SET(BulletSoftBodyOpenCLSolvers_SRCS
+       ../btSoftBodySolver_OpenCL.cpp
+       ../btSoftBodySolver_OpenCLSIMDAware.cpp
+       ../btSoftBodySolverOutputCLtoGL.cpp
+)
+
+SET(BulletSoftBodyOpenCLSolvers_HDRS
+       ../btSoftBodySolver_OpenCL.h
+       ../btSoftBodySolver_OpenCLSIMDAware.h
+       ../../Shared/btSoftBodySolverData.h
+       ../btSoftBodySolverVertexData_OpenCL.h
+       ../btSoftBodySolverTriangleData_OpenCL.h
+       ../btSoftBodySolverLinkData_OpenCL.h
+       ../btSoftBodySolverLinkData_OpenCLSIMDAware.h
+       ../btSoftBodySolverBuffer_OpenCL.h
+       ../btSoftBodySolverVertexBuffer_OpenGL.h
+       ../btSoftBodySolverOutputCLtoGL.h
+)
+
+
+
+
+ADD_LIBRARY(BulletSoftBodySolvers_OpenCL_AMD
+       ${BulletSoftBodyOpenCLSolvers_SRCS} 
+       ${BulletSoftBodyOpenCLSolvers_HDRS} 
+)
+
+SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_AMD PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_AMD PROPERTIES SOVERSION ${BULLET_VERSION})
+IF (BUILD_SHARED_LIBS)
+       TARGET_LINK_LIBRARIES(BulletSoftBodySolvers_OpenCL_AMD BulletSoftBody)
+ENDIF (BUILD_SHARED_LIBS)
+
+
+IF (INSTALL_LIBS)
+       IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+               IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+                       IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+                               INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_AMD DESTINATION .)
+                       ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+                               INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_AMD DESTINATION lib${LIB_SUFFIX})
+#headers are already installed by BulletMultiThreaded library
+                       ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+               ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+
+               IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+                       SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_AMD PROPERTIES FRAMEWORK true)
+                       SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_AMD PROPERTIES PUBLIC_HEADER "${BulletSoftBodyOpenCLSolvers_HDRS}")
+               ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+       ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+ENDIF (INSTALL_LIBS)

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/AMD/premake4.lua b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/AMD/premake4.lua
new file mode 100644 (file)
index 0000000..8c663a8
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/AMD/premake4.lua
@@ -0,0 +1,27 @@
+       
+hasCL = findOpenCL_AMD()
+       
+if (hasCL) then
+       
+       project "BulletSoftBodySolvers_OpenCL_AMD"
+               
+       defines { "USE_AMD_OPENCL","CL_PLATFORM_AMD"}
+
+       initOpenCL_AMD()
+       
+       kind "StaticLib"
+       
+       targetdir "../../../../../lib"
+       
+       includedirs {
+               ".",
+               "../../../..",
+               "../../../../../Glut"
+       }
+       files {
+               "../btSoftBodySolver_OpenCL.cpp",
+               "../btSoftBodySolver_OpenCLSIMDAware.cpp",
+               "../btSoftBodySolverOutputCLtoGL.cpp"
+       }
+
+end

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Apple/CMakeLists.txt b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Apple/CMakeLists.txt
new file mode 100644 (file)
index 0000000..35dd4eb
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Apple/CMakeLists.txt
@@ -0,0 +1,77 @@
+
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/src
+)
+
+
+
+
+SET(BulletSoftBodyOpenCLSolvers_SRCS
+       ../btSoftBodySolver_OpenCL.cpp
+       ../btSoftBodySolver_OpenCLSIMDAware.cpp
+)
+
+SET(BulletSoftBodyOpenCLSolvers_HDRS
+       ../btSoftBodySolver_OpenCL.h
+       ../../Shared/btSoftBodySolverData.h
+       ../btSoftBodySolverVertexData_OpenCL.h
+       ../btSoftBodySolverTriangleData_OpenCL.h
+       ../btSoftBodySolverLinkData_OpenCL.h
+       ../btSoftBodySolverBuffer_OpenCL.h
+)
+
+# OpenCL and HLSL Shaders.
+# Build rules generated to stringify these into headers
+# which are needed by some of the sources
+SET(BulletSoftBodyOpenCLSolvers_Shaders
+#      OutputToVertexArray
+       UpdateNormals
+       Integrate
+       UpdatePositions
+       UpdateNodes
+       SolvePositions
+       UpdatePositionsFromVelocities
+       ApplyForces
+       PrepareLinks
+       VSolveLinks
+)
+
+foreach(f ${BulletSoftBodyOpenCLSolvers_Shaders})
+    LIST(APPEND BulletSoftBodyOpenCLSolvers_OpenCLC "../OpenCLC10/${f}.cl")
+endforeach(f) 
+
+
+
+ADD_LIBRARY(BulletSoftBodySolvers_OpenCL_Apple
+       ${BulletSoftBodyOpenCLSolvers_SRCS} 
+       ${BulletSoftBodyOpenCLSolvers_HDRS} 
+       ${BulletSoftBodyOpenCLSolvers_OpenCLC}
+)
+
+SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Apple PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Apple PROPERTIES SOVERSION ${BULLET_VERSION})
+IF (BUILD_SHARED_LIBS)
+       IF (APPLE AND (BUILD_SHARED_LIBS OR FRAMEWORK) )
+               SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Apple PROPERTIES LINK_FLAGS "-framework OpenCL")
+       ENDIF (APPLE AND (BUILD_SHARED_LIBS OR FRAMEWORK) )
+       TARGET_LINK_LIBRARIES(BulletSoftBodySolvers_OpenCL_Apple BulletSoftBody)
+ENDIF (BUILD_SHARED_LIBS)
+
+
+IF (INSTALL_LIBS)
+       IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+               IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+                       IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+                               INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Apple  DESTINATION .)
+                       ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+                               INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Apple  DESTINATION lib${LIB_SUFFIX})
+#headers are already installed by BulletMultiThreaded library
+                       ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+               ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+
+               IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+                       SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Apple PROPERTIES FRAMEWORK true)
+                       SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Apple PROPERTIES PUBLIC_HEADER "${BulletSoftBodyOpenCLSolvers_HDRS}")
+               ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+       ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+ENDIF (INSTALL_LIBS)

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/CMakeFiles/CMakeDirectoryInformation.cmake b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/CMakeFiles/CMakeDirectoryInformation.cmake
new file mode 100644 (file)
index 0000000..5525f14
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/CMakeFiles/CMakeDirectoryInformation.cmake
@@ -0,0 +1,23 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+# Relative path conversion top directories.
+SET(CMAKE_RELATIVE_PATH_TOP_SOURCE "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx")
+SET(CMAKE_RELATIVE_PATH_TOP_BINARY "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx")
+
+# Force unix paths in dependencies.
+SET(CMAKE_FORCE_UNIX_PATHS 1)
+
+# The C and CXX include file search paths:
+SET(CMAKE_C_INCLUDE_PATH
+  "/usr/local/include"
+  "src"
+  )
+SET(CMAKE_CXX_INCLUDE_PATH ${CMAKE_C_INCLUDE_PATH})
+SET(CMAKE_Fortran_INCLUDE_PATH ${CMAKE_C_INCLUDE_PATH})
+
+# The C and CXX include file regular expressions for this directory.
+SET(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$")
+SET(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$")
+SET(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN})
+SET(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN})

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/CMakeFiles/progress.marks b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/CMakeFiles/progress.marks
new file mode 100644 (file)
index 0000000..573541a
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diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/CMakeLists.txt b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/CMakeLists.txt
new file mode 100644 (file)
index 0000000..cf9a0be
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/CMakeLists.txt
@@ -0,0 +1,17 @@
+       SUBDIRS( MiniCL  )
+
+IF(BUILD_INTEL_OPENCL_DEMOS)
+       SUBDIRS(Intel)
+ENDIF()
+
+IF(BUILD_AMD_OPENCL_DEMOS)
+       SUBDIRS(AMD)
+ENDIF()
+
+IF(BUILD_NVIDIA_OPENCL_DEMOS)
+       SUBDIRS(NVidia)
+ENDIF()
+
+IF(APPLE AND OPENCL_LIBRARY) 
+       SUBDIRS(Apple)
+ENDIF()

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Intel/CMakeLists.txt b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Intel/CMakeLists.txt
new file mode 100644 (file)
index 0000000..9503a5f
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Intel/CMakeLists.txt
@@ -0,0 +1,82 @@
+
+INCLUDE_DIRECTORIES(
+       ${BULLET_PHYSICS_SOURCE_DIR}/src
+       ${INTEL_OPENCL_INCLUDES}
+)
+
+ADD_DEFINITIONS(-DUSE_INTEL_OPENCL)
+ADD_DEFINITIONS(-DCL_PLATFORM_INTEL)
+
+
+
+SET(BulletSoftBodyOpenCLSolvers_SRCS
+       ../btSoftBodySolver_OpenCL.cpp
+       ../btSoftBodySolver_OpenCLSIMDAware.cpp
+       ../btSoftBodySolverOutputCLtoGL.cpp
+)
+
+SET(BulletSoftBodyOpenCLSolvers_HDRS
+       ../btSoftBodySolver_OpenCL.h
+       ../btSoftBodySolver_OpenCLSIMDAware.h
+       ../../Shared/btSoftBodySolverData.h
+       ../btSoftBodySolverVertexData_OpenCL.h
+       ../btSoftBodySolverTriangleData_OpenCL.h
+       ../btSoftBodySolverLinkData_OpenCL.h
+       ../btSoftBodySolverLinkData_OpenCLSIMDAware.h
+       ../btSoftBodySolverBuffer_OpenCL.h
+       ../btSoftBodySolverVertexBuffer_OpenGL.h
+       ../btSoftBodySolverOutputCLtoGL.h
+)
+
+# OpenCL and HLSL Shaders.
+# Build rules generated to stringify these into headers
+# which are needed by some of the sources
+SET(BulletSoftBodyOpenCLSolvers_Shaders
+#      OutputToVertexArray
+       UpdateNormals
+       Integrate
+       UpdatePositions
+       UpdateNodes
+       SolvePositions
+       UpdatePositionsFromVelocities
+       ApplyForces
+       PrepareLinks
+       VSolveLinks
+)
+
+foreach(f ${BulletSoftBodyOpenCLSolvers_Shaders})
+    LIST(APPEND BulletSoftBodyOpenCLSolvers_OpenCLC "../OpenCLC10/${f}.cl")
+endforeach(f) 
+
+
+
+ADD_LIBRARY(BulletSoftBodySolvers_OpenCL_Intel
+       ${BulletSoftBodyOpenCLSolvers_SRCS} 
+       ${BulletSoftBodyOpenCLSolvers_HDRS} 
+       ${BulletSoftBodyOpenCLSolvers_OpenCLC}
+)
+
+SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Intel PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Intel PROPERTIES SOVERSION ${BULLET_VERSION})
+IF (BUILD_SHARED_LIBS)
+       TARGET_LINK_LIBRARIES(BulletSoftBodySolvers_OpenCL_Intel BulletSoftBody)
+ENDIF (BUILD_SHARED_LIBS)
+
+
+IF (INSTALL_LIBS)
+       IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+               IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+                       IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+                               INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Intel DESTINATION .)
+                       ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+                               INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Intel DESTINATION lib${LIB_SUFFIX})
+#headers are already installed by BulletMultiThreaded library
+                       ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+               ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+
+               IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+                       SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Intel PROPERTIES FRAMEWORK true)
+                       SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Intel PROPERTIES PUBLIC_HEADER "${BulletSoftBodyOpenCLSolvers_HDRS}")
+               ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+       ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+ENDIF (INSTALL_LIBS)

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Intel/premake4.lua b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Intel/premake4.lua
new file mode 100644 (file)
index 0000000..668886d
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Intel/premake4.lua
@@ -0,0 +1,27 @@
+       
+hasCL = findOpenCL_Intel()
+       
+if (hasCL) then
+       
+       project "BulletSoftBodySolvers_OpenCL_Intel"
+               
+       defines { "USE_INTEL_OPENCL","CL_PLATFORM_INTEL"}
+
+       initOpenCL_Intel()
+       
+       kind "StaticLib"
+       
+       targetdir "../../../../../lib"
+       
+       includedirs {
+               ".",
+               "../../../..",
+               "../../../../../Glut"
+       }
+       files {
+               "../btSoftBodySolver_OpenCL.cpp",
+               "../btSoftBodySolver_OpenCLSIMDAware.cpp",
+               "../btSoftBodySolverOutputCLtoGL.cpp"
+       }
+
+end

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Makefile b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Makefile
new file mode 100644 (file)
index 0000000..d57b392
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Makefile
@@ -0,0 +1,167 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+# Default target executed when no arguments are given to make.
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+
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+
+# The top-level build directory on which CMake was run.
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+
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+       @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
+       "/Applications/CMake 2.8-6.app/Contents/bin/cmake" -P cmake_install.cmake
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+# Special rule for the target rebuild_cache
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+.PHONY : rebuild_cache/fast
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+# The main all target
+all: cmake_check_build_system
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+       @echo "... clean"
+       @echo "... depend"
+       @echo "... edit_cache"
+       @echo "... install"
+       @echo "... install/local"
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+
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+
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+# because they might be regenerated.
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+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
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+
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+
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+
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+-
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+
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diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeFiles/BulletSoftBodySolvers_OpenCL_Mini.dir/DependInfo.cmake b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeFiles/BulletSoftBodySolvers_OpenCL_Mini.dir/DependInfo.cmake
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+)
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+SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Mini PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Mini PROPERTIES SOVERSION ${BULLET_VERSION})
+IF (BUILD_SHARED_LIBS)
+       TARGET_LINK_LIBRARIES(BulletSoftBodySolvers_OpenCL_Mini MiniCL BulletMultiThreaded BulletSoftBody)
+ENDIF (BUILD_SHARED_LIBS)
+
+
+IF (INSTALL_LIBS)
+       IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+               IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+                       IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+                               INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Mini DESTINATION .)
+                       ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+                               INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Mini DESTINATION lib${LIB_SUFFIX})
+#headers are already installed by BulletMultiThreaded library
+                       ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+               ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+
+               IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+                       SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Mini PROPERTIES FRAMEWORK true)
+                       SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Mini PROPERTIES PUBLIC_HEADER "${BulletSoftBodyOpenCLSolvers_HDRS}")
+               ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+       ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+ENDIF (INSTALL_LIBS)

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/Makefile b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/Makefile
new file mode 100644 (file)
index 0000000..6b9dbf9
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/Makefile
@@ -0,0 +1,200 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+# Default target executed when no arguments are given to make.
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+.PHONY : default_target
+
+#=============================================================================
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+CMAKE_SOURCE_DIR = /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx
+
+#=============================================================================
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+       "/Applications/CMake 2.8-6.app/Contents/bin/ccmake" -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
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+
+# Special rule for the target edit_cache
+edit_cache/fast: edit_cache
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+install: preinstall
+       @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
+       "/Applications/CMake 2.8-6.app/Contents/bin/cmake" -P cmake_install.cmake
+.PHONY : install
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+# Special rule for the target install
+install/fast: preinstall/fast
+       @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
+       "/Applications/CMake 2.8-6.app/Contents/bin/cmake" -P cmake_install.cmake
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+.PHONY : list_install_components
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+# Special rule for the target list_install_components
+list_install_components/fast: list_install_components
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+       @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..."
+       "/Applications/CMake 2.8-6.app/Contents/bin/cmake" -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
+.PHONY : rebuild_cache
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+# Special rule for the target rebuild_cache
+rebuild_cache/fast: rebuild_cache
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+all: cmake_check_build_system
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(CMAKE_COMMAND) -E cmake_progress_start /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/CMakeFiles /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeFiles/progress.marks
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+
+# The main clean target
+clean:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f CMakeFiles/Makefile2 src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/clean
+.PHONY : clean
+
+# The main clean target
+clean/fast: clean
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+
+# Prepare targets for installation.
+preinstall: all
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f CMakeFiles/Makefile2 src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/preinstall
+.PHONY : preinstall
+
+# Prepare targets for installation.
+preinstall/fast:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f CMakeFiles/Makefile2 src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/preinstall
+.PHONY : preinstall/fast
+
+# clear depends
+depend:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
+.PHONY : depend
+
+# Convenience name for target.
+src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeFiles/BulletSoftBodySolvers_OpenCL_Mini.dir/rule:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f CMakeFiles/Makefile2 src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeFiles/BulletSoftBodySolvers_OpenCL_Mini.dir/rule
+.PHONY : src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeFiles/BulletSoftBodySolvers_OpenCL_Mini.dir/rule
+
+# Convenience name for target.
+BulletSoftBodySolvers_OpenCL_Mini: src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeFiles/BulletSoftBodySolvers_OpenCL_Mini.dir/rule
+.PHONY : BulletSoftBodySolvers_OpenCL_Mini
+
+# fast build rule for target.
+BulletSoftBodySolvers_OpenCL_Mini/fast:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeFiles/BulletSoftBodySolvers_OpenCL_Mini.dir/build.make src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeFiles/BulletSoftBodySolvers_OpenCL_Mini.dir/build
+.PHONY : BulletSoftBodySolvers_OpenCL_Mini/fast
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+# target to build an object file
+__/btSoftBodySolver_OpenCL.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeFiles/BulletSoftBodySolvers_OpenCL_Mini.dir/build.make src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeFiles/BulletSoftBodySolvers_OpenCL_Mini.dir/__/btSoftBodySolver_OpenCL.o
+.PHONY : __/btSoftBodySolver_OpenCL.o
+
+# target to preprocess a source file
+__/btSoftBodySolver_OpenCL.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeFiles/BulletSoftBodySolvers_OpenCL_Mini.dir/build.make src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeFiles/BulletSoftBodySolvers_OpenCL_Mini.dir/__/btSoftBodySolver_OpenCL.i
+.PHONY : __/btSoftBodySolver_OpenCL.i
+
+# target to generate assembly for a file
+__/btSoftBodySolver_OpenCL.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeFiles/BulletSoftBodySolvers_OpenCL_Mini.dir/build.make src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeFiles/BulletSoftBodySolvers_OpenCL_Mini.dir/__/btSoftBodySolver_OpenCL.s
+.PHONY : __/btSoftBodySolver_OpenCL.s
+
+# Help Target
+help:
+       @echo "The following are some of the valid targets for this Makefile:"
+       @echo "... all (the default if no target is provided)"
+       @echo "... clean"
+       @echo "... depend"
+       @echo "... BulletSoftBodySolvers_OpenCL_Mini"
+       @echo "... edit_cache"
+       @echo "... install"
+       @echo "... install/local"
+       @echo "... install/strip"
+       @echo "... list_install_components"
+       @echo "... rebuild_cache"
+       @echo "... __/btSoftBodySolver_OpenCL.o"
+       @echo "... __/btSoftBodySolver_OpenCL.i"
+       @echo "... __/btSoftBodySolver_OpenCL.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
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diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/MiniCLTaskWrap.cpp b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/MiniCLTaskWrap.cpp
new file mode 100644 (file)
index 0000000..dfa60e6
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/MiniCLTaskWrap.cpp
@@ -0,0 +1,249 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <MiniCL/cl_MiniCL_Defs.h>
+
+#define MSTRINGIFY(A) A
+#include "../OpenCLC10/ApplyForces.cl"
+#include "../OpenCLC10/Integrate.cl"
+#include "../OpenCLC10/PrepareLinks.cl"
+#include "../OpenCLC10/SolvePositions.cl"
+#include "../OpenCLC10/UpdateNodes.cl"
+#include "../OpenCLC10/UpdateNormals.cl"
+#include "../OpenCLC10/UpdatePositions.cl"
+#include "../OpenCLC10/UpdatePositionsFromVelocities.cl"
+#include "../OpenCLC10/VSolveLinks.cl"
+#include "../OpenCLC10/UpdateFixedVertexPositions.cl"
+//#include "../OpenCLC10/SolveCollisionsAndUpdateVelocities.cl"
+
+
+MINICL_REGISTER(PrepareLinksKernel)
+MINICL_REGISTER(VSolveLinksKernel)
+MINICL_REGISTER(UpdatePositionsFromVelocitiesKernel)
+MINICL_REGISTER(SolvePositionsFromLinksKernel)
+MINICL_REGISTER(updateVelocitiesFromPositionsWithVelocitiesKernel)
+MINICL_REGISTER(updateVelocitiesFromPositionsWithoutVelocitiesKernel)
+MINICL_REGISTER(IntegrateKernel)
+MINICL_REGISTER(ApplyForcesKernel)
+MINICL_REGISTER(ResetNormalsAndAreasKernel)
+MINICL_REGISTER(NormalizeNormalsAndAreasKernel)
+MINICL_REGISTER(UpdateSoftBodiesKernel)
+MINICL_REGISTER(UpdateFixedVertexPositions)
+
+float mydot3a(float4 a, float4 b)
+{
+   return a.x*b.x + a.y*b.y + a.z*b.z;
+}
+
+
+typedef struct 
+{
+       int firstObject;
+       int endObject;
+} CollisionObjectIndices;
+
+typedef struct 
+{
+       float4 shapeTransform[4]; // column major 4x4 matrix
+       float4 linearVelocity;
+       float4 angularVelocity;
+
+       int softBodyIdentifier;
+       int collisionShapeType;
+       
+
+       // Shape information
+       // Compressed from the union
+       float radius;
+       float halfHeight;
+       int upAxis;
+               
+       float margin;
+       float friction;
+
+       int padding0;
+       
+} CollisionShapeDescription;
+
+// From btBroadphaseProxy.h
+__constant int CAPSULE_SHAPE_PROXYTYPE = 10;
+
+// Multiply column-major matrix against vector
+float4 matrixVectorMul( float4 matrix[4], float4 vector )
+{
+       float4 returnVector;
+       float4 row0 = float4(matrix[0].x, matrix[1].x, matrix[2].x, matrix[3].x);
+       float4 row1 = float4(matrix[0].y, matrix[1].y, matrix[2].y, matrix[3].y);
+       float4 row2 = float4(matrix[0].z, matrix[1].z, matrix[2].z, matrix[3].z);
+       float4 row3 = float4(matrix[0].w, matrix[1].w, matrix[2].w, matrix[3].w);
+       returnVector.x = dot(row0, vector);
+       returnVector.y = dot(row1, vector);
+       returnVector.z = dot(row2, vector);
+       returnVector.w = dot(row3, vector);
+       return returnVector;
+}
+
+__kernel void 
+SolveCollisionsAndUpdateVelocitiesKernel( 
+       const int numNodes,
+       const float isolverdt,
+       __global int *g_vertexClothIdentifier,
+       __global float4 *g_vertexPreviousPositions,
+       __global float * g_perClothFriction,
+       __global float * g_clothDampingFactor,
+       __global CollisionObjectIndices * g_perClothCollisionObjectIndices,
+       __global CollisionShapeDescription * g_collisionObjectDetails,
+       __global float4 * g_vertexForces,
+       __global float4 *g_vertexVelocities,
+       __global float4 *g_vertexPositions GUID_ARG)
+{
+       int nodeID = get_global_id(0);
+       float4 forceOnVertex = (float4)(0.f, 0.f, 0.f, 0.f);
+       
+       if( get_global_id(0) < numNodes )
+       {       
+               int clothIdentifier = g_vertexClothIdentifier[nodeID];
+               
+               // Abort if this is not a valid cloth
+               if( clothIdentifier < 0 )
+                       return;
+
+
+               float4 position (g_vertexPositions[nodeID].xyz, 1.f);
+               float4 previousPosition (g_vertexPreviousPositions[nodeID].xyz, 1.f);
+                       
+               float clothFriction = g_perClothFriction[clothIdentifier];
+               float dampingFactor = g_clothDampingFactor[clothIdentifier];
+               float velocityCoefficient = (1.f - dampingFactor);              
+               float4 difference = position - previousPosition;
+               float4 velocity = difference*velocityCoefficient*isolverdt;
+               
+               CollisionObjectIndices collisionObjectIndices = g_perClothCollisionObjectIndices[clothIdentifier];
+       
+               int numObjects = collisionObjectIndices.endObject - collisionObjectIndices.firstObject;
+               
+               if( numObjects > 0 )
+               {
+                       // We have some possible collisions to deal with
+                       for( int collision = collisionObjectIndices.firstObject; collision < collisionObjectIndices.endObject; ++collision )
+                       {
+                               CollisionShapeDescription shapeDescription = g_collisionObjectDetails[collision];
+                               float colliderFriction = shapeDescription.friction;
+
+                               if( shapeDescription.collisionShapeType == CAPSULE_SHAPE_PROXYTYPE )
+                               {
+                                       // Colliding with a capsule
+
+                                       float capsuleHalfHeight = shapeDescription.halfHeight;
+                                       float capsuleRadius = shapeDescription.radius;
+                                       float capsuleMargin = shapeDescription.margin;
+                                       int capsuleupAxis = shapeDescription.upAxis;
+
+                                       // Four columns of worldTransform matrix
+                                       float4 worldTransform[4];
+                                       worldTransform[0] = shapeDescription.shapeTransform[0];
+                                       worldTransform[1] = shapeDescription.shapeTransform[1];
+                                       worldTransform[2] = shapeDescription.shapeTransform[2];
+                                       worldTransform[3] = shapeDescription.shapeTransform[3];
+
+                                       // Correctly define capsule centerline vector 
+                                       float4 c1 (0.f, 0.f, 0.f, 1.f); 
+                                       float4 c2 (0.f, 0.f, 0.f, 1.f);
+                                       c1.x = select( 0.f, -capsuleHalfHeight, capsuleupAxis == 0 );
+                                       c1.y = select( 0.f, -capsuleHalfHeight, capsuleupAxis == 1 );
+                                       c1.z = select( 0.f, -capsuleHalfHeight, capsuleupAxis == 2 );
+                                       c2.x = -c1.x;
+                                       c2.y = -c1.y;
+                                       c2.z = -c1.z;
+
+
+                                       float4 worldC1 = matrixVectorMul(worldTransform, c1);
+                                       float4 worldC2 = matrixVectorMul(worldTransform, c2);
+                                       float4 segment = (worldC2 - worldC1);
+
+                                       // compute distance of tangent to vertex along line segment in capsule
+                                       float distanceAlongSegment = -( mydot3a( (worldC1 - position), segment ) / mydot3a(segment, segment) );
+
+                                       float4 closestPoint = (worldC1 + (segment * distanceAlongSegment));
+                                       float distanceFromLine = length(position - closestPoint);
+                                       float distanceFromC1 = length(worldC1 - position);
+                                       float distanceFromC2 = length(worldC2 - position);
+                                       
+                                       // Final distance from collision, point to push from, direction to push in
+                                       // for impulse force
+                                       float dist;
+                                       float4 normalVector;
+                                       if( distanceAlongSegment < 0 )
+                                       {
+                                               dist = distanceFromC1;
+                                               normalVector = float4(normalize(position - worldC1).xyz, 0.f);
+                                       } else if( distanceAlongSegment > 1.f ) {
+                                               dist = distanceFromC2;
+                                               normalVector = float4(normalize(position - worldC2).xyz, 0.f);  
+                                       } else {
+                                               dist = distanceFromLine;
+                                               normalVector = float4(normalize(position - closestPoint).xyz, 0.f);
+                                       }
+                                               
+                                       float4 colliderLinearVelocity = shapeDescription.linearVelocity;
+                                       float4 colliderAngularVelocity = shapeDescription.angularVelocity;
+                                       float4 velocityOfSurfacePoint = colliderLinearVelocity + cross(colliderAngularVelocity, position - float4(worldTransform[0].w, worldTransform[1].w, worldTransform[2].w, 0.f));
+
+                                       float minDistance = capsuleRadius + capsuleMargin;
+                                       
+                                       // In case of no collision, this is the value of velocity
+                                       velocity = (position - previousPosition) * velocityCoefficient * isolverdt;
+                                       
+                                       
+                                       // Check for a collision
+                                       if( dist < minDistance )
+                                       {
+                                               // Project back to surface along normal
+                                               position = position + float4(normalVector*(minDistance - dist)*0.9f);
+                                               velocity = (position - previousPosition) * velocityCoefficient * isolverdt;
+                                               float4 relativeVelocity = velocity - velocityOfSurfacePoint;
+
+                                               float4 p1 = normalize(cross(normalVector, segment));
+                                               float4 p2 = normalize(cross(p1, normalVector));
+                                               // Full friction is sum of velocities in each direction of plane
+                                               float4 frictionVector = p1*mydot3a(relativeVelocity, p1) + p2*mydot3a(relativeVelocity, p2);
+
+                                               // Real friction is peak friction corrected by friction coefficients
+                                               frictionVector = frictionVector * (colliderFriction*clothFriction);
+
+                                               float approachSpeed = dot(relativeVelocity, normalVector);
+
+                                               if( approachSpeed <= 0.0f )
+                                                       forceOnVertex -= frictionVector;
+                                       }
+                               }
+                       }
+               }
+
+               g_vertexVelocities[nodeID] = float4(velocity.xyz, 0.f); 
+
+               // Update external force
+               g_vertexForces[nodeID] = float4(forceOnVertex.xyz, 0.f);
+
+               g_vertexPositions[nodeID] = float4(position.xyz, 0.f);
+       }
+}
+
+
+MINICL_REGISTER(SolveCollisionsAndUpdateVelocitiesKernel);
+
+
+
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/cmake_install.cmake b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/cmake_install.cmake
new file mode 100644 (file)
index 0000000..663ee45
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/cmake_install.cmake
@@ -0,0 +1,37 @@
+# Install script for directory: /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/usr/local")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  IF(BUILD_TYPE)
+    STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  ELSE(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "Release")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE STATIC_LIBRARY FILES "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/libBulletSoftBodySolvers_OpenCL_Mini.a")
+  IF(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libBulletSoftBodySolvers_OpenCL_Mini.a" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libBulletSoftBodySolvers_OpenCL_Mini.a")
+    EXECUTE_PROCESS(COMMAND "/usr/bin/ranlib" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libBulletSoftBodySolvers_OpenCL_Mini.a")
+  ENDIF()
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/NVidia/CMakeLists.txt b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/NVidia/CMakeLists.txt
new file mode 100644 (file)
index 0000000..ea04063
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/NVidia/CMakeLists.txt
@@ -0,0 +1,81 @@
+
+ADD_DEFINITIONS(-DUSE_NVIDIA_OPENCL)
+ADD_DEFINITIONS(-DCL_PLATFORM_NVIDIA)
+
+INCLUDE_DIRECTORIES(
+       ${BULLET_PHYSICS_SOURCE_DIR}/src
+       ${NVIDIA_OPENCL_INCLUDES}
+)
+
+
+
+SET(BulletSoftBodyOpenCLSolvers_SRCS
+       ../btSoftBodySolver_OpenCL.cpp
+       ../btSoftBodySolver_OpenCLSIMDAware.cpp
+       ../btSoftBodySolverOutputCLtoGL.cpp
+)
+
+SET(BulletSoftBodyOpenCLSolvers_HDRS
+       ../btSoftBodySolver_OpenCL.h
+       ../../Shared/btSoftBodySolverData.h
+       ../btSoftBodySolverVertexData_OpenCL.h
+       ../btSoftBodySolverTriangleData_OpenCL.h
+       ../btSoftBodySolverLinkData_OpenCL.h
+       ../btSoftBodySolverLinkData_OpenCLSIMDAware.h
+       ../btSoftBodySolverBuffer_OpenCL.h
+       ../btSoftBodySolverVertexBuffer_OpenGL.h
+       ../btSoftBodySolverOutputCLtoGL.h
+)
+
+# OpenCL and HLSL Shaders.
+# Build rules generated to stringify these into headers
+# which are needed by some of the sources
+SET(BulletSoftBodyOpenCLSolvers_Shaders
+#      OutputToVertexArray
+       UpdateNormals
+       Integrate
+       UpdatePositions
+       UpdateNodes
+       SolvePositions
+       UpdatePositionsFromVelocities
+       ApplyForces
+       PrepareLinks
+       VSolveLinks
+)
+
+foreach(f ${BulletSoftBodyOpenCLSolvers_Shaders})
+    LIST(APPEND BulletSoftBodyOpenCLSolvers_OpenCLC "../OpenCLC10/${f}.cl")
+endforeach(f) 
+
+
+
+ADD_LIBRARY(BulletSoftBodySolvers_OpenCL_NVidia
+       ${BulletSoftBodyOpenCLSolvers_SRCS} 
+       ${BulletSoftBodyOpenCLSolvers_HDRS} 
+       ${BulletSoftBodyOpenCLSolvers_OpenCLC}
+)
+
+SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_NVidia PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_NVidia PROPERTIES SOVERSION ${BULLET_VERSION})
+IF (BUILD_SHARED_LIBS)
+       TARGET_LINK_LIBRARIES(BulletSoftBodySolvers_OpenCL_NVidia BulletSoftBody BulletDynamics)
+ENDIF (BUILD_SHARED_LIBS)
+
+
+IF (INSTALL_LIBS)
+       IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+               IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+                       IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+                               INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_NVidia DESTINATION .)
+                       ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+                               INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_NVidia DESTINATION lib${LIB_SUFFIX})
+#headers are already installed by BulletMultiThreaded library
+                       ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+               ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+
+               IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+                       SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_NVidia PROPERTIES FRAMEWORK true)
+                       SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_NVidia PROPERTIES PUBLIC_HEADER "${BulletSoftBodyOpenCLSolvers_HDRS}")
+               ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+       ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+ENDIF (INSTALL_LIBS)

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/NVidia/premake4.lua b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/NVidia/premake4.lua
new file mode 100644 (file)
index 0000000..0bab1e3
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/NVidia/premake4.lua
@@ -0,0 +1,27 @@
+       
+hasCL = findOpenCL_NVIDIA()
+       
+if (hasCL) then
+       
+       project "BulletSoftBodySolvers_OpenCL_NVIDIA"
+               
+       defines { "USE_NVIDIA_OPENCL","CL_PLATFORM_NVIDIA"}
+
+       initOpenCL_NVIDIA()
+       
+       kind "StaticLib"
+       
+       targetdir "../../../../../lib"
+       
+       includedirs {
+               ".",
+               "../../../..",
+               "../../../../../Glut"
+       }
+       files {
+               "../btSoftBodySolver_OpenCL.cpp",
+               "../btSoftBodySolver_OpenCLSIMDAware.cpp",
+               "../btSoftBodySolverOutputCLtoGL.cpp"
+       }
+
+end

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/ApplyForces.cl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/ApplyForces.cl
new file mode 100644 (file)
index 0000000..f9bcb88
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/ApplyForces.cl
@@ -0,0 +1,102 @@
+MSTRINGIFY(
+
+
+float adot3(float4 a, float4 b)
+{
+   return a.x*b.x + a.y*b.y + a.z*b.z;
+}
+
+float alength3(float4 a)
+{
+       a.w = 0;
+       return length(a);
+}
+
+float4 anormalize3(float4 a)
+{
+       a.w = 0;
+       return normalize(a);
+}
+
+float4 projectOnAxis( float4 v, float4 a )
+{
+       return (a*adot3(v, a));
+}
+
+__kernel void 
+ApplyForcesKernel(
+       const uint numNodes,
+       const float solverdt,
+       const float epsilon,
+       __global int * g_vertexClothIdentifier,
+       __global float4 * g_vertexNormal,
+       __global float * g_vertexArea,
+       __global float * g_vertexInverseMass,
+       __global float * g_clothLiftFactor,
+       __global float * g_clothDragFactor,
+       __global float4 * g_clothWindVelocity,
+       __global float4 * g_clothAcceleration,
+       __global float * g_clothMediumDensity,
+       __global float4 * g_vertexForceAccumulator,
+       __global float4 * g_vertexVelocity GUID_ARG)
+{
+       unsigned int nodeID = get_global_id(0);
+       if( nodeID < numNodes )
+       {               
+               int clothId  = g_vertexClothIdentifier[nodeID];
+               float nodeIM = g_vertexInverseMass[nodeID];
+               
+               if( nodeIM > 0.0f )
+               {
+                       float4 nodeV  = g_vertexVelocity[nodeID];
+                       float4 normal = g_vertexNormal[nodeID];
+                       float area    = g_vertexArea[nodeID];
+                       float4 nodeF  = g_vertexForceAccumulator[nodeID];
+                       
+                       // Read per-cloth values
+                       float4 clothAcceleration = g_clothAcceleration[clothId];
+                       float4 clothWindVelocity = g_clothWindVelocity[clothId];
+                       float liftFactor = g_clothLiftFactor[clothId];
+                       float dragFactor = g_clothDragFactor[clothId];
+                       float mediumDensity = g_clothMediumDensity[clothId];
+               
+                       // Apply the acceleration to the cloth rather than do this via a force
+                       nodeV += (clothAcceleration*solverdt);
+
+                       g_vertexVelocity[nodeID] = nodeV;
+
+                       // Aerodynamics
+                       float4 rel_v = nodeV - clothWindVelocity;
+                       float rel_v_len = alength3(rel_v);
+                       float rel_v2 = dot(rel_v, rel_v);
+                       
+                       if( rel_v2 > epsilon )
+                       {
+                               float4 rel_v_nrm = anormalize3(rel_v);
+                               float4 nrm = normal;
+                                                                       
+                               nrm = nrm * (dot(nrm, rel_v) < 0 ? -1.f : 1.f);
+
+                               float4 fDrag = (float4)(0.f, 0.f, 0.f, 0.f);
+                               float4 fLift = (float4)(0.f, 0.f, 0.f, 0.f);
+
+                               float n_dot_v = dot(nrm, rel_v_nrm);
+
+                               // drag force
+                               if ( dragFactor > 0.f )
+                                       fDrag = 0.5f * dragFactor * mediumDensity * rel_v2 * area * n_dot_v * (-1.0f) * rel_v_nrm;
+
+                               // lift force
+                               // Check angle of attack
+                               // cos(10º) = 0.98480
+                               if ( 0 < n_dot_v && n_dot_v < 0.98480f)
+                                       fLift = 0.5f * liftFactor * mediumDensity * rel_v_len * area * sqrt(1.0f-n_dot_v*n_dot_v) * (cross(cross(nrm, rel_v_nrm), rel_v_nrm));
+                               
+                               nodeF += fDrag + fLift;
+                                       g_vertexForceAccumulator[nodeID] = nodeF;       
+                       }
+               }
+       }
+}
+
+);
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/ComputeBounds.cl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/ComputeBounds.cl
new file mode 100644 (file)
index 0000000..2ae7148
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/ComputeBounds.cl
@@ -0,0 +1,82 @@
+MSTRINGIFY(
+#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n
+#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n
+
+__kernel void
+ComputeBoundsKernel( 
+       const int numNodes,
+       const int numSoftBodies,
+       __global int * g_vertexClothIdentifier,
+       __global float4 * g_vertexPositions,
+       /* Unfortunately, to get the atomics below to work these arrays cannot be */
+       /* uint4, though that is the layout of the data */
+       /* Therefore this is little-endian-only code */
+       volatile __global uint * g_clothMinBounds,
+       volatile __global uint * g_clothMaxBounds,
+       volatile __local uint * clothMinBounds,
+       volatile __local uint * clothMaxBounds)
+{
+       // Init min and max bounds arrays
+       if( get_local_id(0) < numSoftBodies )
+       {
+               
+               clothMinBounds[get_local_id(0)*4] = UINT_MAX;
+               clothMinBounds[get_local_id(0)*4+1] = UINT_MAX;
+               clothMinBounds[get_local_id(0)*4+2] = UINT_MAX;
+               clothMinBounds[get_local_id(0)*4+3] = UINT_MAX;
+               clothMaxBounds[get_local_id(0)*4] = 0;
+               clothMaxBounds[get_local_id(0)*4+1] = 0;
+               clothMaxBounds[get_local_id(0)*4+2] = 0;
+               clothMaxBounds[get_local_id(0)*4+3] = 0;
+
+       }
+
+       barrier(CLK_LOCAL_MEM_FENCE);
+
+       int nodeID = get_global_id(0);
+       if( nodeID < numNodes )
+       {       
+               int clothIdentifier = g_vertexClothIdentifier[nodeID];
+               if( clothIdentifier >= 0 )
+               {
+
+                       float4 position = (float4)(g_vertexPositions[nodeID].xyz, 0.f);
+
+                       /* Reinterpret position as uint */
+                       uint4 positionUInt = (uint4)(as_uint(position.x), as_uint(position.y), as_uint(position.z), 0);
+               
+                       /* Invert sign bit of positives and whole of negatives to allow comparison as unsigned ints */
+                       positionUInt.x ^= (1+~(positionUInt.x >> 31) | 0x80000000);
+                       positionUInt.y ^= (1+~(positionUInt.y >> 31) | 0x80000000);             
+                       positionUInt.z ^= (1+~(positionUInt.z >> 31) | 0x80000000);
+               
+                       // Min/max with the LDS values
+                       atom_min(&(clothMinBounds[clothIdentifier*4]), positionUInt.x);
+                       atom_min(&(clothMinBounds[clothIdentifier*4+1]), positionUInt.y);
+                       atom_min(&(clothMinBounds[clothIdentifier*4+2]), positionUInt.z);
+
+                       atom_max(&(clothMaxBounds[clothIdentifier*4]), positionUInt.x);
+                       atom_max(&(clothMaxBounds[clothIdentifier*4+1]), positionUInt.y);
+                       atom_max(&(clothMaxBounds[clothIdentifier*4+2]), positionUInt.z);
+               }
+       }
+       
+       barrier(CLK_LOCAL_MEM_FENCE);
+
+
+       /* Use global atomics to update the global versions of the data */
+       if( get_local_id(0) < numSoftBodies )
+       {
+               /*atom_min(&(g_clothMinBounds[get_local_id(0)].x), clothMinBounds[get_local_id(0)].x);*/
+               atom_min(&(g_clothMinBounds[get_local_id(0)*4]), clothMinBounds[get_local_id(0)*4]);
+               atom_min(&(g_clothMinBounds[get_local_id(0)*4+1]), clothMinBounds[get_local_id(0)*4+1]);
+               atom_min(&(g_clothMinBounds[get_local_id(0)*4+2]), clothMinBounds[get_local_id(0)*4+2]);
+
+               atom_max(&(g_clothMaxBounds[get_local_id(0)*4]), clothMaxBounds[get_local_id(0)*4]);            
+               atom_max(&(g_clothMaxBounds[get_local_id(0)*4+1]), clothMaxBounds[get_local_id(0)*4+1]);
+               atom_max(&(g_clothMaxBounds[get_local_id(0)*4+2]), clothMaxBounds[get_local_id(0)*4+2]);
+       }
+}
+
+
+);

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/Integrate.cl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/Integrate.cl
new file mode 100644 (file)
index 0000000..bb2d98a
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/Integrate.cl
@@ -0,0 +1,35 @@
+MSTRINGIFY(
+
+// Node indices for each link
+
+
+
+__kernel void
+IntegrateKernel( 
+       const int numNodes,
+       const float solverdt,
+       __global float * g_vertexInverseMasses,
+       __global float4 * g_vertexPositions,
+       __global float4 * g_vertexVelocity,
+       __global float4 * g_vertexPreviousPositions,
+       __global float4 * g_vertexForceAccumulator GUID_ARG)
+{
+       int nodeID = get_global_id(0);
+       if( nodeID < numNodes )
+       {       
+               float4 position   = g_vertexPositions[nodeID];
+               float4 velocity   = g_vertexVelocity[nodeID];
+               float4 force      = g_vertexForceAccumulator[nodeID];
+               float inverseMass = g_vertexInverseMasses[nodeID];
+               
+               g_vertexPreviousPositions[nodeID] = position;
+               velocity += force * inverseMass * solverdt;
+               position += velocity * solverdt;
+               
+               g_vertexForceAccumulator[nodeID] = (float4)(0.f, 0.f, 0.f, 0.0f);
+               g_vertexPositions[nodeID]        = position;
+               g_vertexVelocity[nodeID]         = velocity;    
+       }
+}
+
+);
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/OutputToVertexArray.cl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/OutputToVertexArray.cl
new file mode 100644 (file)
index 0000000..9891377
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/OutputToVertexArray.cl
@@ -0,0 +1,46 @@
+MSTRINGIFY(
+
+__kernel void 
+OutputToVertexArrayWithNormalsKernel( 
+       const int startNode, const int numNodes, __global float *g_vertexBuffer,
+       const int positionOffset, const int positionStride, const __global float4* g_vertexPositions, 
+       const int normalOffset, const int normalStride, const __global float4* g_vertexNormals  )
+{
+       int nodeID = get_global_id(0);
+       if( nodeID < numNodes )
+       {                       
+               float4 position = g_vertexPositions[nodeID + startNode];
+               float4 normal = g_vertexNormals[nodeID + startNode];
+               
+               // Stride should account for the float->float4 conversion
+               int positionDestination = nodeID * positionStride + positionOffset;             
+               g_vertexBuffer[positionDestination] = position.x;
+               g_vertexBuffer[positionDestination+1] = position.y;
+               g_vertexBuffer[positionDestination+2] = position.z;
+               
+               int normalDestination = nodeID * normalStride + normalOffset;
+               g_vertexBuffer[normalDestination] = normal.x;
+               g_vertexBuffer[normalDestination+1] = normal.y;
+               g_vertexBuffer[normalDestination+2] = normal.z;         
+       }
+}
+
+__kernel void 
+OutputToVertexArrayWithoutNormalsKernel(
+       const int startNode, const int numNodes, __global float *g_vertexBuffer,
+       const int positionOffset, const int positionStride, const __global float4* g_vertexPositions )
+{
+       int nodeID = get_global_id(0);
+       if( nodeID < numNodes )
+       {                       
+               float4 position = g_vertexPositions[nodeID + startNode];
+               
+               // Stride should account for the float->float4 conversion
+               int positionDestination = nodeID * positionStride + positionOffset;             
+               g_vertexBuffer[positionDestination] = position.x;
+               g_vertexBuffer[positionDestination+1] = position.y;
+               g_vertexBuffer[positionDestination+2] = position.z;             
+       }
+}
+
+);
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/PrepareLinks.cl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/PrepareLinks.cl
new file mode 100644 (file)
index 0000000..542a11e
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/PrepareLinks.cl
@@ -0,0 +1,38 @@
+MSTRINGIFY(
+
+
+
+__kernel void 
+PrepareLinksKernel( 
+       const int numLinks,
+       __global int2 * g_linksVertexIndices,
+       __global float * g_linksMassLSC,
+       __global float4 * g_nodesPreviousPosition,
+       __global float * g_linksLengthRatio,
+       __global float4 * g_linksCurrentLength GUID_ARG)
+{
+       int linkID = get_global_id(0);
+       if( linkID < numLinks )
+       {       
+               
+               int2 nodeIndices = g_linksVertexIndices[linkID];
+               int node0 = nodeIndices.x;
+               int node1 = nodeIndices.y;
+               
+               float4 nodePreviousPosition0 = g_nodesPreviousPosition[node0];
+               float4 nodePreviousPosition1 = g_nodesPreviousPosition[node1];
+
+               float massLSC = g_linksMassLSC[linkID];
+               
+               float4 linkCurrentLength = nodePreviousPosition1 - nodePreviousPosition0;
+               linkCurrentLength.w = 0.f;
+               
+               float linkLengthRatio = dot(linkCurrentLength, linkCurrentLength)*massLSC;
+               linkLengthRatio = 1.0f/linkLengthRatio;
+               
+               g_linksCurrentLength[linkID] = linkCurrentLength;
+               g_linksLengthRatio[linkID]   = linkLengthRatio;         
+       }
+}
+
+);
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolveCollisionsAndUpdateVelocities.cl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolveCollisionsAndUpdateVelocities.cl
new file mode 100644 (file)
index 0000000..92fb939
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolveCollisionsAndUpdateVelocities.cl
@@ -0,0 +1,204 @@
+MSTRINGIFY(
+
+
+
+float mydot3a(float4 a, float4 b)
+{
+   return a.x*b.x + a.y*b.y + a.z*b.z;
+}
+
+
+typedef struct 
+{
+       int firstObject;
+       int endObject;
+} CollisionObjectIndices;
+
+typedef struct 
+{
+       float4 shapeTransform[4]; // column major 4x4 matrix
+       float4 linearVelocity;
+       float4 angularVelocity;
+
+       int softBodyIdentifier;
+       int collisionShapeType;
+       
+
+       // Shape information
+       // Compressed from the union
+       float radius;
+       float halfHeight;
+       int upAxis;
+               
+       float margin;
+       float friction;
+
+       int padding0;
+       
+} CollisionShapeDescription;
+
+// From btBroadphaseProxy.h
+__constant int CAPSULE_SHAPE_PROXYTYPE = 10;
+
+// Multiply column-major matrix against vector
+float4 matrixVectorMul( float4 matrix[4], float4 vector )
+{
+       float4 returnVector;
+       float4 row0 = (float4)(matrix[0].x, matrix[1].x, matrix[2].x, matrix[3].x);
+       float4 row1 = (float4)(matrix[0].y, matrix[1].y, matrix[2].y, matrix[3].y);
+       float4 row2 = (float4)(matrix[0].z, matrix[1].z, matrix[2].z, matrix[3].z);
+       float4 row3 = (float4)(matrix[0].w, matrix[1].w, matrix[2].w, matrix[3].w);
+       returnVector.x = dot(row0, vector);
+       returnVector.y = dot(row1, vector);
+       returnVector.z = dot(row2, vector);
+       returnVector.w = dot(row3, vector);
+       return returnVector;
+}
+
+__kernel void 
+SolveCollisionsAndUpdateVelocitiesKernel( 
+       const int numNodes,
+       const float isolverdt,
+       __global int *g_vertexClothIdentifier,
+       __global float4 *g_vertexPreviousPositions,
+       __global float * g_perClothFriction,
+       __global float * g_clothDampingFactor,
+       __global CollisionObjectIndices * g_perClothCollisionObjectIndices,
+       __global CollisionShapeDescription * g_collisionObjectDetails,
+       __global float4 * g_vertexForces,
+       __global float4 *g_vertexVelocities,
+       __global float4 *g_vertexPositions GUID_ARG)
+{
+       int nodeID = get_global_id(0);
+       float4 forceOnVertex = (float4)(0.f, 0.f, 0.f, 0.f);
+       
+       if( get_global_id(0) < numNodes )
+       {       
+               int clothIdentifier = g_vertexClothIdentifier[nodeID];
+               
+               // Abort if this is not a valid cloth
+               if( clothIdentifier < 0 )
+                       return;
+
+
+               float4 position = (float4)(g_vertexPositions[nodeID].xyz, 1.f);
+               float4 previousPosition = (float4)(g_vertexPreviousPositions[nodeID].xyz, 1.f);
+                       
+               float clothFriction = g_perClothFriction[clothIdentifier];
+               float dampingFactor = g_clothDampingFactor[clothIdentifier];
+               float velocityCoefficient = (1.f - dampingFactor);              
+               float4 difference = position - previousPosition;
+               float4 velocity = difference*velocityCoefficient*isolverdt;
+               
+               CollisionObjectIndices collisionObjectIndices = g_perClothCollisionObjectIndices[clothIdentifier];
+       
+               int numObjects = collisionObjectIndices.endObject - collisionObjectIndices.firstObject;
+               
+               if( numObjects > 0 )
+               {
+                       // We have some possible collisions to deal with
+                       for( int collision = collisionObjectIndices.firstObject; collision < collisionObjectIndices.endObject; ++collision )
+                       {
+                               CollisionShapeDescription shapeDescription = g_collisionObjectDetails[collision];
+                               float colliderFriction = shapeDescription.friction;
+
+                               if( shapeDescription.collisionShapeType == CAPSULE_SHAPE_PROXYTYPE )
+                               {
+                                       // Colliding with a capsule
+
+                                       float capsuleHalfHeight = shapeDescription.halfHeight;
+                                       float capsuleRadius = shapeDescription.radius;
+                                       float capsuleMargin = shapeDescription.margin;
+                                       int capsuleupAxis = shapeDescription.upAxis;
+
+                                       // Four columns of worldTransform matrix
+                                       float4 worldTransform[4];
+                                       worldTransform[0] = shapeDescription.shapeTransform[0];
+                                       worldTransform[1] = shapeDescription.shapeTransform[1];
+                                       worldTransform[2] = shapeDescription.shapeTransform[2];
+                                       worldTransform[3] = shapeDescription.shapeTransform[3];
+
+                                       // Correctly define capsule centerline vector 
+                                       float4 c1 = (float4)(0.f, 0.f, 0.f, 1.f); 
+                                       float4 c2 = (float4)(0.f, 0.f, 0.f, 1.f);
+                                       c1.x = select( 0.f, -capsuleHalfHeight, capsuleupAxis == 0 );
+                                       c1.y = select( 0.f, -capsuleHalfHeight, capsuleupAxis == 1 );
+                                       c1.z = select( 0.f, -capsuleHalfHeight, capsuleupAxis == 2 );
+                                       c2.x = -c1.x;
+                                       c2.y = -c1.y;
+                                       c2.z = -c1.z;
+
+
+                                       float4 worldC1 = matrixVectorMul(worldTransform, c1);
+                                       float4 worldC2 = matrixVectorMul(worldTransform, c2);
+                                       float4 segment = (worldC2 - worldC1);
+
+                                       // compute distance of tangent to vertex along line segment in capsule
+                                       float distanceAlongSegment = -( mydot3a( (worldC1 - position), segment ) / mydot3a(segment, segment) );
+
+                                       float4 closestPoint = (worldC1 + (float4)(segment * distanceAlongSegment));
+                                       float distanceFromLine = length(position - closestPoint);
+                                       float distanceFromC1 = length(worldC1 - position);
+                                       float distanceFromC2 = length(worldC2 - position);
+                                       
+                                       // Final distance from collision, point to push from, direction to push in
+                                       // for impulse force
+                                       float dist;
+                                       float4 normalVector;
+                                       if( distanceAlongSegment < 0 )
+                                       {
+                                               dist = distanceFromC1;
+                                               normalVector = (float4)(normalize(position - worldC1).xyz, 0.f);
+                                       } else if( distanceAlongSegment > 1.f ) {
+                                               dist = distanceFromC2;
+                                               normalVector = (float4)(normalize(position - worldC2).xyz, 0.f);        
+                                       } else {
+                                               dist = distanceFromLine;
+                                               normalVector = (float4)(normalize(position - closestPoint).xyz, 0.f);
+                                       }
+                                               
+                                       float4 colliderLinearVelocity = shapeDescription.linearVelocity;
+                                       float4 colliderAngularVelocity = shapeDescription.angularVelocity;
+                                       float4 velocityOfSurfacePoint = colliderLinearVelocity + cross(colliderAngularVelocity, position - (float4)(worldTransform[0].w, worldTransform[1].w, worldTransform[2].w, 0.f));
+
+                                       float minDistance = capsuleRadius + capsuleMargin;
+                                       
+                                       // In case of no collision, this is the value of velocity
+                                       velocity = (position - previousPosition) * velocityCoefficient * isolverdt;
+                                       
+                                       
+                                       // Check for a collision
+                                       if( dist < minDistance )
+                                       {
+                                               // Project back to surface along normal
+                                               position = position + (float4)((minDistance - dist)*normalVector*0.9f);
+                                               velocity = (position - previousPosition) * velocityCoefficient * isolverdt;
+                                               float4 relativeVelocity = velocity - velocityOfSurfacePoint;
+
+                                               float4 p1 = normalize(cross(normalVector, segment));
+                                               float4 p2 = normalize(cross(p1, normalVector));
+                                               // Full friction is sum of velocities in each direction of plane
+                                               float4 frictionVector = p1*mydot3a(relativeVelocity, p1) + p2*mydot3a(relativeVelocity, p2);
+
+                                               // Real friction is peak friction corrected by friction coefficients
+                                               frictionVector = frictionVector * (colliderFriction*clothFriction);
+
+                                               float approachSpeed = dot(relativeVelocity, normalVector);
+
+                                               if( approachSpeed <= 0.0f )
+                                                       forceOnVertex -= frictionVector;
+                                       }
+                               }
+                       }
+               }
+
+               g_vertexVelocities[nodeID] = (float4)(velocity.xyz, 0.f);       
+
+               // Update external force
+               g_vertexForces[nodeID] = (float4)(forceOnVertex.xyz, 0.f);
+
+               g_vertexPositions[nodeID] = (float4)(position.xyz, 0.f);
+       }
+}
+
+);

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolveCollisionsAndUpdateVelocitiesSIMDBatched.cl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolveCollisionsAndUpdateVelocitiesSIMDBatched.cl
new file mode 100644 (file)
index 0000000..8720b72
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolveCollisionsAndUpdateVelocitiesSIMDBatched.cl
@@ -0,0 +1,242 @@
+MSTRINGIFY(
+
+//#pragma OPENCL EXTENSION cl_amd_printf:enable\n
+
+float mydot3a(float4 a, float4 b)
+{
+   return a.x*b.x + a.y*b.y + a.z*b.z;
+}
+
+float mylength3(float4 a)
+{
+       a.w = 0;
+       return length(a);
+}
+
+float4 mynormalize3(float4 a)
+{
+       a.w = 0;
+       return normalize(a);
+}
+
+typedef struct 
+{
+       int firstObject;
+       int endObject;
+} CollisionObjectIndices;
+
+typedef struct 
+{
+       float4 shapeTransform[4]; // column major 4x4 matrix
+       float4 linearVelocity;
+       float4 angularVelocity;
+
+       int softBodyIdentifier;
+       int collisionShapeType;
+       
+
+       // Shape information
+       // Compressed from the union
+       float radius;
+       float halfHeight;
+       int upAxis;
+               
+       float margin;
+       float friction;
+
+       int padding0;
+       
+} CollisionShapeDescription;
+
+// From btBroadphaseProxy.h
+__constant int CAPSULE_SHAPE_PROXYTYPE = 10;
+
+// Multiply column-major matrix against vector
+float4 matrixVectorMul( float4 matrix[4], float4 vector )
+{
+       float4 returnVector;
+       float4 row0 = (float4)(matrix[0].x, matrix[1].x, matrix[2].x, matrix[3].x);
+       float4 row1 = (float4)(matrix[0].y, matrix[1].y, matrix[2].y, matrix[3].y);
+       float4 row2 = (float4)(matrix[0].z, matrix[1].z, matrix[2].z, matrix[3].z);
+       float4 row3 = (float4)(matrix[0].w, matrix[1].w, matrix[2].w, matrix[3].w);
+       returnVector.x = dot(row0, vector);
+       returnVector.y = dot(row1, vector);
+       returnVector.z = dot(row2, vector);
+       returnVector.w = dot(row3, vector);
+       return returnVector;
+}
+
+__kernel void 
+SolveCollisionsAndUpdateVelocitiesKernel( 
+       const int numNodes,
+       const float isolverdt,
+       __global int *g_vertexClothIdentifier,
+       __global float4 *g_vertexPreviousPositions,
+       __global float * g_perClothFriction,
+       __global float * g_clothDampingFactor,
+       __global CollisionObjectIndices * g_perClothCollisionObjectIndices,
+       __global CollisionShapeDescription * g_collisionObjectDetails,
+       __global float4 * g_vertexForces,
+       __global float4 *g_vertexVelocities,
+       __global float4 *g_vertexPositions,
+       __local CollisionShapeDescription *localCollisionShapes,
+       __global float * g_vertexInverseMasses)
+{
+       int nodeID = get_global_id(0);
+       float4 forceOnVertex = (float4)(0.f, 0.f, 0.f, 0.f);
+
+       int clothIdentifier = g_vertexClothIdentifier[nodeID];
+
+       // Abort if this is not a valid cloth
+       if( clothIdentifier < 0 )
+               return;
+       
+
+       float4 position = (float4)(g_vertexPositions[nodeID].xyz, 0.f);
+       float4 previousPosition = (float4)(g_vertexPreviousPositions[nodeID].xyz, 0.f);
+                       
+       float clothFriction = g_perClothFriction[clothIdentifier];
+       float dampingFactor = g_clothDampingFactor[clothIdentifier];
+       float velocityCoefficient = (1.f - dampingFactor);              
+       float4 difference = position - previousPosition;
+       float4 velocity = difference*velocityCoefficient*isolverdt;                     
+       float inverseMass = g_vertexInverseMasses[nodeID];
+               
+       CollisionObjectIndices collisionObjectIndices = g_perClothCollisionObjectIndices[clothIdentifier];
+       
+       int numObjects = collisionObjectIndices.endObject - collisionObjectIndices.firstObject;
+               
+       if( numObjects > 0 )
+       {
+               // We have some possible collisions to deal with
+               
+               // First load all of the collision objects into LDS
+               int numObjects = collisionObjectIndices.endObject - collisionObjectIndices.firstObject;
+               if( get_local_id(0) < numObjects )
+               {
+                       localCollisionShapes[get_local_id(0)] = g_collisionObjectDetails[ collisionObjectIndices.firstObject + get_local_id(0) ];
+               }
+       }
+
+       // Safe as the vertices are padded so that not more than one soft body is in a group
+       barrier(CLK_LOCAL_MEM_FENCE);
+
+       // Annoyingly, even though I know the flow control is not varying, the compiler will not let me skip this
+       if( numObjects > 0 )
+       {
+               
+               
+               // We have some possible collisions to deal with
+               for( int collision = 0; collision < numObjects; ++collision )
+               {
+                       CollisionShapeDescription shapeDescription = localCollisionShapes[collision];
+                       float colliderFriction = localCollisionShapes[collision].friction;
+               
+                       if( localCollisionShapes[collision].collisionShapeType == CAPSULE_SHAPE_PROXYTYPE )
+                       {
+                               // Colliding with a capsule
+
+                               float capsuleHalfHeight = localCollisionShapes[collision].halfHeight;
+                               float capsuleRadius = localCollisionShapes[collision].radius;
+                               float capsuleMargin = localCollisionShapes[collision].margin;
+                               int capsuleupAxis = localCollisionShapes[collision].upAxis;
+
+                               if ( capsuleHalfHeight <= 0 )
+                                               capsuleHalfHeight = 0.0001f;
+                               float4 worldTransform[4];
+                               worldTransform[0] = localCollisionShapes[collision].shapeTransform[0];
+                               worldTransform[1] = localCollisionShapes[collision].shapeTransform[1];
+                               worldTransform[2] = localCollisionShapes[collision].shapeTransform[2];
+                               worldTransform[3] = localCollisionShapes[collision].shapeTransform[3];
+
+                               // Correctly define capsule centerline vector 
+                               float4 c1 = (float4)(0.f, 0.f, 0.f, 1.f); 
+                               float4 c2 = (float4)(0.f, 0.f, 0.f, 1.f);
+                               c1.x = select( 0.f, -capsuleHalfHeight, capsuleupAxis == 0 );
+                               c1.y = select( 0.f, -capsuleHalfHeight, capsuleupAxis == 1 );
+                               c1.z = select( 0.f, -capsuleHalfHeight, capsuleupAxis == 2 );
+                               c2.x = -c1.x;
+                               c2.y = -c1.y;
+                               c2.z = -c1.z;
+
+                               float4 worldC1 = matrixVectorMul(worldTransform, c1);
+                               float4 worldC2 = matrixVectorMul(worldTransform, c2);
+                               float4 segment = (float4)((worldC2 - worldC1).xyz, 0.f);
+
+                               float4 segmentNormalized = mynormalize3(segment);
+                               float distanceAlongSegment =mydot3a( (position - worldC1), segmentNormalized );
+
+                               float4 closestPointOnSegment = (worldC1 + (float4)(segmentNormalized * distanceAlongSegment));
+                               float distanceFromLine = mylength3(position - closestPointOnSegment);
+                               float distanceFromC1 = mylength3(worldC1 - position);
+                               float distanceFromC2 = mylength3(worldC2 - position);
+       
+                               // Final distance from collision, point to push from, direction to push in
+                               // for impulse force
+                               float dist;
+                               float4 normalVector;
+
+                               if( distanceAlongSegment < 0 )
+                               {
+                                       dist = distanceFromC1;
+                                       normalVector = (float4)(normalize(position - worldC1).xyz, 0.f);                
+                               } else if( distanceAlongSegment > length(segment) ) {
+                                       dist = distanceFromC2;
+                                       normalVector = (float4)(normalize(position - worldC2).xyz, 0.f);        
+                               } else {
+                                       dist = distanceFromLine;
+                                       normalVector = (float4)(normalize(position - closestPointOnSegment).xyz, 0.f);
+                               }
+                                               
+                               float minDistance = capsuleRadius + capsuleMargin;
+                               float4 closestPointOnSurface = (float4)((position + (minDistance - dist) * normalVector).xyz, 0.f);
+                                                                               
+                               float4 colliderLinearVelocity = shapeDescription.linearVelocity;
+                               float4 colliderAngularVelocity = shapeDescription.angularVelocity;
+                               float4 velocityOfSurfacePoint = colliderLinearVelocity + cross(colliderAngularVelocity, closestPointOnSurface - (float4)(worldTransform[0].w, worldTransform[1].w, worldTransform[2].w, 0.f));
+                                       
+                                       
+                               // Check for a collision
+                               if( dist < minDistance )
+                               {
+                                       // Project back to surface along normal
+                                       position = closestPointOnSurface;
+                                       velocity = (position - previousPosition) * velocityCoefficient * isolverdt;
+                                       float4 relativeVelocity = velocity - velocityOfSurfacePoint;
+
+                                       float4 p1 = mynormalize3(cross(normalVector, segment));
+                                       float4 p2 = mynormalize3(cross(p1, normalVector));
+                                       
+                                       float4 tangentialVel = p1*mydot3a(relativeVelocity, p1) + p2*mydot3a(relativeVelocity, p2);
+                                       float frictionCoef = (colliderFriction * clothFriction);
+                                       if (frictionCoef>1.f)
+                                               frictionCoef = 1.f;
+                                               
+                                       //only apply friction if objects are not moving apart
+                                       float projVel = mydot3a(relativeVelocity,normalVector);
+                                       if ( projVel >= -0.001f)
+                                       {
+                                               if ( inverseMass > 0 )
+                                               {
+                                                       //float4 myforceOnVertex = -tangentialVel * frictionCoef *  isolverdt * (1.0f / inverseMass);
+                                                       position += (-tangentialVel * frictionCoef) / (isolverdt);
+                                               }
+                                       }                                               
+                                       
+                                       // In case of no collision, this is the value of velocity
+                                       velocity = (position - previousPosition) * velocityCoefficient * isolverdt;
+
+                               }
+                       }
+               }
+       }
+       
+       g_vertexVelocities[nodeID] = (float4)(velocity.xyz, 0.f);       
+
+       // Update external force
+       g_vertexForces[nodeID] = (float4)(forceOnVertex.xyz, 0.f);
+
+       g_vertexPositions[nodeID] = (float4)(position.xyz, 0.f);
+}
+
+);

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolvePositions.cl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolvePositions.cl
new file mode 100644 (file)
index 0000000..e4a5341
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolvePositions.cl
@@ -0,0 +1,57 @@
+
+
+
+MSTRINGIFY(
+
+
+float mydot3(float4 a, float4 b)
+{
+   return a.x*b.x + a.y*b.y + a.z*b.z;
+}
+
+
+__kernel void 
+SolvePositionsFromLinksKernel( 
+       const int startLink,
+       const int numLinks,
+       const float kst,
+       const float ti,
+       __global int2 * g_linksVertexIndices,
+       __global float * g_linksMassLSC,
+       __global float * g_linksRestLengthSquared,
+       __global float * g_verticesInverseMass,
+       __global float4 * g_vertexPositions GUID_ARG)
+       
+{
+       int linkID = get_global_id(0) + startLink;
+       if( get_global_id(0) < numLinks )
+       {       
+               float massLSC = g_linksMassLSC[linkID];
+               float restLengthSquared = g_linksRestLengthSquared[linkID];
+               
+               if( massLSC > 0.0f )
+               {               
+                       int2 nodeIndices = g_linksVertexIndices[linkID];
+                       int node0 = nodeIndices.x;
+                       int node1 = nodeIndices.y;
+                       
+                       float4 position0 = g_vertexPositions[node0];
+                       float4 position1 = g_vertexPositions[node1];
+
+                       float inverseMass0 = g_verticesInverseMass[node0];
+                       float inverseMass1 = g_verticesInverseMass[node1]; 
+
+                       float4 del = position1 - position0;
+                       float len  = mydot3(del, del);
+                       float k    = ((restLengthSquared - len)/(massLSC*(restLengthSquared+len)))*kst;
+                       position0 = position0 - del*(k*inverseMass0);
+                       position1 = position1 + del*(k*inverseMass1);
+
+                       g_vertexPositions[node0] = position0;
+                       g_vertexPositions[node1] = position1;
+
+               }
+       }
+}
+
+);
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolvePositionsSIMDBatched.cl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolvePositionsSIMDBatched.cl
new file mode 100644 (file)
index 0000000..e99bbf2
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolvePositionsSIMDBatched.cl
@@ -0,0 +1,130 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+MSTRINGIFY(
+
+float mydot3(float4 a, float4 b)
+{
+   return a.x*b.x + a.y*b.y + a.z*b.z;
+}
+
+__kernel __attribute__((reqd_work_group_size(WAVEFRONT_BLOCK_MULTIPLIER*WAVEFRONT_SIZE, 1, 1)))
+void 
+SolvePositionsFromLinksKernel( 
+       const int startWaveInBatch,
+       const int numWaves,
+       const float kst,
+       const float ti,
+       __global int2 *g_wavefrontBatchCountsVertexCounts,
+       __global int *g_vertexAddressesPerWavefront,
+       __global int2 * g_linksVertexIndices,
+       __global float * g_linksMassLSC,
+       __global float * g_linksRestLengthSquared,
+       __global float * g_verticesInverseMass,
+       __global float4 * g_vertexPositions,
+       __local int2 *wavefrontBatchCountsVertexCounts,
+       __local float4 *vertexPositionSharedData,
+       __local float *vertexInverseMassSharedData)
+{
+       const int laneInWavefront = (get_global_id(0) & (WAVEFRONT_SIZE-1));
+       const int wavefront = startWaveInBatch + (get_global_id(0) / WAVEFRONT_SIZE);
+       const int firstWavefrontInBlock = startWaveInBatch + get_group_id(0) * WAVEFRONT_BLOCK_MULTIPLIER;
+       const int localWavefront = wavefront - firstWavefrontInBlock;
+
+       // Mask out in case there's a stray "wavefront" at the end that's been forced in through the multiplier 
+       if( wavefront < (startWaveInBatch + numWaves) )
+       {       
+               // Load the batch counts for the wavefronts
+               
+               int2 batchesAndVerticesWithinWavefront = g_wavefrontBatchCountsVertexCounts[wavefront];
+               int batchesWithinWavefront = batchesAndVerticesWithinWavefront.x;
+               int verticesUsedByWave = batchesAndVerticesWithinWavefront.y;
+
+               // Load the vertices for the wavefronts
+               for( int vertex = laneInWavefront; vertex < verticesUsedByWave; vertex+=WAVEFRONT_SIZE )
+               {
+                       int vertexAddress = g_vertexAddressesPerWavefront[wavefront*MAX_NUM_VERTICES_PER_WAVE + vertex];
+
+                       vertexPositionSharedData[localWavefront*MAX_NUM_VERTICES_PER_WAVE + vertex] = g_vertexPositions[vertexAddress];
+                       vertexInverseMassSharedData[localWavefront*MAX_NUM_VERTICES_PER_WAVE + vertex] = g_verticesInverseMass[vertexAddress];
+               }
+               
+               barrier(CLK_LOCAL_MEM_FENCE);
+
+               // Loop through the batches performing the solve on each in LDS
+               int baseDataLocationForWave = WAVEFRONT_SIZE * wavefront * MAX_BATCHES_PER_WAVE;        
+
+               //for( int batch = 0; batch < batchesWithinWavefront; ++batch )
+               
+               int batch = 0;
+               do
+               {
+                       int baseDataLocation = baseDataLocationForWave + WAVEFRONT_SIZE * batch;
+                       int locationOfValue = baseDataLocation + laneInWavefront;
+                       
+                       
+                       // These loads should all be perfectly linear across the WF
+                       int2 localVertexIndices = g_linksVertexIndices[locationOfValue];
+                       float massLSC = g_linksMassLSC[locationOfValue];
+                       float restLengthSquared = g_linksRestLengthSquared[locationOfValue];
+                       
+                       // LDS vertex addresses based on logical wavefront number in block and loaded index
+                       int vertexAddress0 = MAX_NUM_VERTICES_PER_WAVE * localWavefront + localVertexIndices.x;
+                       int vertexAddress1 = MAX_NUM_VERTICES_PER_WAVE * localWavefront + localVertexIndices.y;
+                       
+                       float4 position0 = vertexPositionSharedData[vertexAddress0];
+                       float4 position1 = vertexPositionSharedData[vertexAddress1];
+
+                       float inverseMass0 = vertexInverseMassSharedData[vertexAddress0];
+                       float inverseMass1 = vertexInverseMassSharedData[vertexAddress1]; 
+
+                       float4 del = position1 - position0;
+                       float len = mydot3(del, del);
+                       
+                       float k = 0;
+                       if( massLSC > 0.0f )
+                       {               
+                               k = ((restLengthSquared - len)/(massLSC*(restLengthSquared+len)))*kst;
+                       }
+                       
+                       position0 = position0 - del*(k*inverseMass0);
+                       position1 = position1 + del*(k*inverseMass1);
+                       
+                       // Ensure compiler does not re-order memory operations
+                       barrier(CLK_LOCAL_MEM_FENCE);
+
+                       vertexPositionSharedData[vertexAddress0] = position0;
+                       vertexPositionSharedData[vertexAddress1] = position1;
+                       
+                       // Ensure compiler does not re-order memory operations
+                       barrier(CLK_LOCAL_MEM_FENCE);
+                               
+                       
+                       ++batch;
+               } while( batch < batchesWithinWavefront );
+
+               // Update the global memory vertices for the wavefronts
+               for( int vertex = laneInWavefront; vertex < verticesUsedByWave; vertex+=WAVEFRONT_SIZE )
+               {
+                       int vertexAddress = g_vertexAddressesPerWavefront[wavefront*MAX_NUM_VERTICES_PER_WAVE + vertex];
+
+                       g_vertexPositions[vertexAddress] = (float4)(vertexPositionSharedData[localWavefront*MAX_NUM_VERTICES_PER_WAVE + vertex].xyz, 0.f);
+               }               
+               
+       }
+
+}
+
+);

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateConstants.cl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateConstants.cl
new file mode 100644 (file)
index 0000000..1d925a3
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateConstants.cl
@@ -0,0 +1,44 @@
+MSTRINGIFY(
+
+/*#define float3 float4
+
+float dot3(float3 a, float3 b)
+{
+   return a.x*b.x + a.y*b.y + a.z*b.z;
+}*/
+
+__kernel void 
+UpdateConstantsKernel( 
+       const int numLinks,
+       __global int2 * g_linksVertexIndices,
+       __global float4 * g_vertexPositions,
+       __global float * g_vertexInverseMasses,
+       __global float * g_linksMaterialLSC,
+       __global float * g_linksMassLSC,
+       __global float * g_linksRestLengthSquared,
+       __global float * g_linksRestLengths)
+{
+       int linkID = get_global_id(0);
+       if( linkID < numLinks )
+       {       
+               int2 nodeIndices = g_linksVertexIndices[linkID];
+               int node0 = nodeIndices.x;
+               int node1 = nodeIndices.y;
+               float linearStiffnessCoefficient = g_linksMaterialLSC[ linkID ];
+               
+               float3 position0   = g_vertexPositions[node0].xyz;
+               float3 position1   = g_vertexPositions[node1].xyz;
+               float inverseMass0 = g_vertexInverseMasses[node0];
+               float inverseMass1 = g_vertexInverseMasses[node1];
+
+               float3 difference = position0 - position1;
+               float length2 = dot(difference, difference);
+               float length = sqrt(length2);
+       
+               g_linksRestLengths[linkID] = length;
+               g_linksMassLSC[linkID] = (inverseMass0 + inverseMass1)/linearStiffnessCoefficient;
+               g_linksRestLengthSquared[linkID] = length*length;               
+       }
+}
+
+);
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateFixedVertexPositions.cl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateFixedVertexPositions.cl
new file mode 100644 (file)
index 0000000..3b2516e
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateFixedVertexPositions.cl
@@ -0,0 +1,25 @@
+MSTRINGIFY(
+       
+__kernel void 
+UpdateFixedVertexPositions(
+       const uint numNodes,
+       __global int * g_anchorIndex,
+       __global float4 * g_vertexPositions,
+       __global float4 * g_anchorPositions GUID_ARG)
+{
+       unsigned int nodeID = get_global_id(0);
+
+       if( nodeID < numNodes )
+       {               
+               int anchorIndex  = g_anchorIndex[nodeID];
+               float4 position = g_vertexPositions[nodeID];
+
+               if ( anchorIndex >= 0 )
+               {
+                       float4 anchorPosition = g_anchorPositions[anchorIndex];
+                       g_vertexPositions[nodeID] = anchorPosition;
+               }
+       }               
+}
+
+);

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateNodes.cl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateNodes.cl
new file mode 100644 (file)
index 0000000..aa7c778
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateNodes.cl
@@ -0,0 +1,39 @@
+MSTRINGIFY(
+
+
+__kernel void 
+updateVelocitiesFromPositionsWithVelocitiesKernel( 
+       int numNodes,
+       float isolverdt,
+       __global float4 * g_vertexPositions,
+       __global float4 * g_vertexPreviousPositions,
+       __global int * g_vertexClothIndices,
+       __global float *g_clothVelocityCorrectionCoefficients,
+       __global float * g_clothDampingFactor,
+       __global float4 * g_vertexVelocities,
+       __global float4 * g_vertexForces GUID_ARG)
+{
+       int nodeID = get_global_id(0);
+       if( nodeID < numNodes )
+       {       
+               float4 position = g_vertexPositions[nodeID];
+               float4 previousPosition = g_vertexPreviousPositions[nodeID];
+               float4 velocity = g_vertexVelocities[nodeID];
+               int clothIndex = g_vertexClothIndices[nodeID];
+               float velocityCorrectionCoefficient = g_clothVelocityCorrectionCoefficients[clothIndex];
+               float dampingFactor = g_clothDampingFactor[clothIndex];
+               float velocityCoefficient = (1.f - dampingFactor);
+               
+               float4 difference = position - previousPosition;
+                               
+               velocity += difference*velocityCorrectionCoefficient*isolverdt;
+               
+               // Damp the velocity
+               velocity *= velocityCoefficient;
+               
+               g_vertexVelocities[nodeID] = velocity;
+               g_vertexForces[nodeID] = (float4)(0.f, 0.f, 0.f, 0.f);                                                          
+       }
+}
+
+);
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateNormals.cl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateNormals.cl
new file mode 100644 (file)
index 0000000..d277b68
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateNormals.cl
@@ -0,0 +1,102 @@
+MSTRINGIFY(
+
+float length3(float4 a)
+{
+       a.w = 0;
+       return length(a);
+}
+
+float4 normalize3(float4 a)
+{
+       a.w = 0;
+       return normalize(a);
+}
+
+__kernel void 
+ResetNormalsAndAreasKernel(
+       const unsigned int numNodes,
+       __global float4 * g_vertexNormals,
+       __global float * g_vertexArea GUID_ARG)
+{
+       if( get_global_id(0) < numNodes )
+       {
+               g_vertexNormals[get_global_id(0)] = (float4)(0.0f, 0.0f, 0.0f, 0.0f);
+               g_vertexArea[get_global_id(0)]    = 0.0f;
+       }
+}
+
+
+__kernel void 
+UpdateSoftBodiesKernel(
+       const unsigned int startFace,
+       const unsigned int numFaces,
+       __global int4 * g_triangleVertexIndexSet,
+       __global float4 * g_vertexPositions,
+       __global float4 * g_vertexNormals,
+       __global float * g_vertexArea,
+       __global float4 * g_triangleNormals,
+       __global float * g_triangleArea GUID_ARG)
+{
+       int faceID = get_global_id(0) + startFace;
+       if( get_global_id(0) < numFaces )
+       {               
+               int4 triangleIndexSet = g_triangleVertexIndexSet[ faceID ];
+               int nodeIndex0 = triangleIndexSet.x;
+               int nodeIndex1 = triangleIndexSet.y;
+               int nodeIndex2 = triangleIndexSet.z;
+
+               float4 node0 = g_vertexPositions[nodeIndex0];
+               float4 node1 = g_vertexPositions[nodeIndex1];
+               float4 node2 = g_vertexPositions[nodeIndex2];
+               float4 nodeNormal0 = g_vertexNormals[nodeIndex0];
+               float4 nodeNormal1 = g_vertexNormals[nodeIndex1];
+               float4 nodeNormal2 = g_vertexNormals[nodeIndex2];
+               float vertexArea0 = g_vertexArea[nodeIndex0];
+               float vertexArea1 = g_vertexArea[nodeIndex1];
+               float vertexArea2 = g_vertexArea[nodeIndex2];
+               
+               float4 vector0 = node1 - node0;
+               float4 vector1 = node2 - node0;
+               
+               float4 faceNormal = cross(vector0, vector1);
+               float triangleArea = length(faceNormal);
+
+               nodeNormal0 = nodeNormal0 + faceNormal;
+               nodeNormal1 = nodeNormal1 + faceNormal;
+               nodeNormal2 = nodeNormal2 + faceNormal;
+               vertexArea0 = vertexArea0 + triangleArea;
+               vertexArea1 = vertexArea1 + triangleArea;
+               vertexArea2 = vertexArea2 + triangleArea;
+               
+               g_triangleNormals[faceID] = normalize3(faceNormal);
+               g_vertexNormals[nodeIndex0] = nodeNormal0;
+               g_vertexNormals[nodeIndex1] = nodeNormal1;
+               g_vertexNormals[nodeIndex2] = nodeNormal2;
+               g_triangleArea[faceID] = triangleArea;
+               g_vertexArea[nodeIndex0] = vertexArea0;
+               g_vertexArea[nodeIndex1] = vertexArea1;
+               g_vertexArea[nodeIndex2] = vertexArea2;
+       }
+}
+
+__kernel void 
+NormalizeNormalsAndAreasKernel( 
+       const unsigned int numNodes,
+       __global int * g_vertexTriangleCount,
+       __global float4 * g_vertexNormals,
+       __global float * g_vertexArea GUID_ARG)
+{
+       if( get_global_id(0) < numNodes )
+       {
+               float4 normal = g_vertexNormals[get_global_id(0)];
+               float area = g_vertexArea[get_global_id(0)];
+               int numTriangles = g_vertexTriangleCount[get_global_id(0)];
+               
+               float vectorLength = length3(normal);
+               
+               g_vertexNormals[get_global_id(0)] = normalize3(normal);
+               g_vertexArea[get_global_id(0)] = area/(float)(numTriangles);
+       }
+}
+
+);

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdatePositions.cl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdatePositions.cl
new file mode 100644 (file)
index 0000000..a261031
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdatePositions.cl
@@ -0,0 +1,34 @@
+MSTRINGIFY(
+
+__kernel void 
+updateVelocitiesFromPositionsWithoutVelocitiesKernel( 
+       const int numNodes,
+       const float isolverdt,
+       __global float4 * g_vertexPositions,
+       __global float4 * g_vertexPreviousPositions,
+       __global int * g_vertexClothIndices,
+       __global float * g_clothDampingFactor,
+       __global float4 * g_vertexVelocities,
+       __global float4 * g_vertexForces GUID_ARG)
+
+{
+       int nodeID = get_global_id(0);
+       if( nodeID < numNodes )
+       {       
+               float4 position = g_vertexPositions[nodeID];
+               float4 previousPosition = g_vertexPreviousPositions[nodeID];
+               float4 velocity = g_vertexVelocities[nodeID];
+               int clothIndex = g_vertexClothIndices[nodeID];
+               float dampingFactor = g_clothDampingFactor[clothIndex];
+               float velocityCoefficient = (1.f - dampingFactor);
+               
+               float4 difference = position - previousPosition;
+                               
+               velocity = difference*velocityCoefficient*isolverdt;            
+               
+               g_vertexVelocities[nodeID] = velocity;
+               g_vertexForces[nodeID] = (float4)(0.f, 0.f, 0.f, 0.f);                                                          
+       }
+}
+
+);
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdatePositionsFromVelocities.cl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdatePositionsFromVelocities.cl
new file mode 100644 (file)
index 0000000..ec1f487
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdatePositionsFromVelocities.cl
@@ -0,0 +1,28 @@
+
+MSTRINGIFY(
+
+
+
+
+__kernel void 
+UpdatePositionsFromVelocitiesKernel( 
+       const int numNodes,
+       const float solverSDT,
+       __global float4 * g_vertexVelocities,
+       __global float4 * g_vertexPreviousPositions,
+       __global float4 * g_vertexCurrentPosition GUID_ARG)
+{
+       int vertexID = get_global_id(0);
+       if( vertexID < numNodes )
+       {       
+               float4 previousPosition = g_vertexPreviousPositions[vertexID];
+               float4 velocity         = g_vertexVelocities[vertexID];
+               
+               float4 newPosition      = previousPosition + velocity*solverSDT;
+               
+               g_vertexCurrentPosition[vertexID]   = newPosition;
+               g_vertexPreviousPositions[vertexID] = newPosition;
+       }
+}
+
+);
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/VSolveLinks.cl b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/VSolveLinks.cl
new file mode 100644 (file)
index 0000000..19224bd
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/VSolveLinks.cl
@@ -0,0 +1,45 @@
+MSTRINGIFY(
+
+__kernel void 
+VSolveLinksKernel( 
+       int startLink,
+       int numLinks,
+       float kst,
+       __global int2 * g_linksVertexIndices,
+       __global float * g_linksLengthRatio,
+       __global float4 * g_linksCurrentLength,
+       __global float * g_vertexInverseMass,
+       __global float4 * g_vertexVelocity GUID_ARG)
+{
+       int linkID = get_global_id(0) + startLink;
+       if( get_global_id(0) < numLinks )
+       {               
+               int2 nodeIndices = g_linksVertexIndices[linkID];
+               int node0 = nodeIndices.x;
+               int node1 = nodeIndices.y;
+               
+               float linkLengthRatio = g_linksLengthRatio[linkID];
+               float3 linkCurrentLength = g_linksCurrentLength[linkID].xyz;
+               
+               float3 vertexVelocity0 = g_vertexVelocity[node0].xyz;
+               float3 vertexVelocity1 = g_vertexVelocity[node1].xyz;
+
+               float vertexInverseMass0 = g_vertexInverseMass[node0];
+               float vertexInverseMass1 = g_vertexInverseMass[node1]; 
+
+               float3 nodeDifference = vertexVelocity0 - vertexVelocity1;
+               float dotResult = dot(linkCurrentLength, nodeDifference);
+               float j = -dotResult*linkLengthRatio*kst;
+               
+               float3 velocityChange0 = linkCurrentLength*(j*vertexInverseMass0);
+               float3 velocityChange1 = linkCurrentLength*(j*vertexInverseMass1);
+               
+               vertexVelocity0 += velocityChange0;
+               vertexVelocity1 -= velocityChange1;
+
+               g_vertexVelocity[node0] = (float4)(vertexVelocity0, 0.f);
+               g_vertexVelocity[node1] = (float4)(vertexVelocity1, 0.f);
+       }
+}
+
+);
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverBuffer_OpenCL.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverBuffer_OpenCL.h
new file mode 100644 (file)
index 0000000..f824f28
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverBuffer_OpenCL.h
@@ -0,0 +1,209 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_SOFT_BODY_SOLVER_BUFFER_OPENCL_H
+#define BT_SOFT_BODY_SOLVER_BUFFER_OPENCL_H
+
+// OpenCL support
+
+#ifdef USE_MINICL
+       #include "MiniCL/cl.h"
+#else //USE_MINICL
+       #ifdef __APPLE__
+               #include <OpenCL/OpenCL.h>
+       #else
+               #include <CL/cl.h>
+       #endif //__APPLE__
+#endif//USE_MINICL
+
+#ifndef SAFE_RELEASE
+#define SAFE_RELEASE(p)      { if(p) { (p)->Release(); (p)=NULL; } }
+#endif
+
+template <typename ElementType> class btOpenCLBuffer
+{
+public:
+
+       cl_command_queue        m_cqCommandQue;
+       cl_context                      m_clContext;
+       cl_mem                          m_buffer;
+
+
+
+       btAlignedObjectArray< ElementType > * m_CPUBuffer;
+       
+       int  m_gpuSize;
+       bool m_onGPU;
+       bool m_readOnlyOnGPU;
+       bool m_allocated;
+
+
+       bool createBuffer( cl_mem* preexistingBuffer = 0)
+       {
+
+               cl_int err;
+                
+
+               if( preexistingBuffer )
+               {
+                       m_buffer = *preexistingBuffer;
+               } 
+               else {
+
+                       cl_mem_flags flags= m_readOnlyOnGPU ? CL_MEM_READ_ONLY : CL_MEM_READ_WRITE;
+
+                       size_t size = m_CPUBuffer->size() * sizeof(ElementType);
+                       // At a minimum the buffer must exist
+                       if( size == 0 )
+                               size = sizeof(ElementType);
+                       m_buffer = clCreateBuffer(m_clContext, flags, size, 0, &err);
+                       if( err != CL_SUCCESS )
+                       {
+                               btAssert( "Buffer::Buffer(m_buffer)");
+                       }
+               }
+
+               m_gpuSize = m_CPUBuffer->size();
+
+               return true;
+       }
+
+public:
+       btOpenCLBuffer( cl_command_queue        commandQue,cl_context ctx, btAlignedObjectArray< ElementType >* CPUBuffer, bool readOnly)
+               :m_cqCommandQue(commandQue),
+               m_clContext(ctx),
+               m_buffer(0),
+               m_CPUBuffer(CPUBuffer),
+               m_gpuSize(0),
+               m_onGPU(false),
+               m_readOnlyOnGPU(readOnly),
+               m_allocated(false)
+       {
+       }
+
+       ~btOpenCLBuffer()
+       {
+               clReleaseMemObject(m_buffer);
+       }
+
+
+       bool moveToGPU()
+       {
+
+
+               cl_int err;
+
+               if( (m_CPUBuffer->size() != m_gpuSize) )
+               {
+                       m_onGPU = false;
+               }
+
+               if( !m_allocated && m_CPUBuffer->size() == 0  )
+               {
+                       // If it isn't on the GPU and yet there is no data on the CPU side this may cause a problem with some kernels.
+                       // We should create *something* on the device side
+                       if (!createBuffer()) {
+                               return false;
+                       }
+                       m_allocated = true;
+               }
+
+               if( !m_onGPU && m_CPUBuffer->size() > 0 )
+               {
+                       if (!m_allocated || (m_CPUBuffer->size() != m_gpuSize)) {
+                               if (!createBuffer()) {
+                                       return false;
+                               }
+                               m_allocated = true;
+                       }
+                       
+                       size_t size = m_CPUBuffer->size() * sizeof(ElementType);
+                       err = clEnqueueWriteBuffer(m_cqCommandQue,m_buffer,
+                               CL_FALSE,
+                               0,
+                               size, 
+                               &((*m_CPUBuffer)[0]),0,0,0);
+                       if( err != CL_SUCCESS )
+                       {
+                               btAssert( "CommandQueue::enqueueWriteBuffer(m_buffer)" );
+                       }
+
+                       m_onGPU = true;
+               }
+
+               return true;
+
+       }
+
+       bool moveFromGPU()
+       {
+
+               cl_int err;
+
+               if (m_CPUBuffer->size() > 0) {
+                       if (m_onGPU && !m_readOnlyOnGPU) {
+                               size_t size = m_CPUBuffer->size() * sizeof(ElementType);
+                               err = clEnqueueReadBuffer(m_cqCommandQue,
+                                       m_buffer,
+                                       CL_TRUE,
+                                       0,
+                                       size,
+                                       &((*m_CPUBuffer)[0]),0,0,0);
+
+                               if( err != CL_SUCCESS )
+                               {
+                                       btAssert( "CommandQueue::enqueueReadBuffer(m_buffer)" );
+                               }
+
+                               m_onGPU = false;
+                       }
+               }
+
+               return true;
+       }
+
+       bool copyFromGPU()
+       {
+
+               cl_int err;
+               size_t size = m_CPUBuffer->size() * sizeof(ElementType);
+
+               if (m_CPUBuffer->size() > 0) {
+                       if (m_onGPU && !m_readOnlyOnGPU) {
+                               err = clEnqueueReadBuffer(m_cqCommandQue,
+                                       m_buffer,
+                                       CL_TRUE,
+                                       0,size, 
+                                       &((*m_CPUBuffer)[0]),0,0,0);
+
+                               if( err != CL_SUCCESS )
+                               {
+                                       btAssert( "CommandQueue::enqueueReadBuffer(m_buffer)");
+                               }
+
+                       }
+               }
+
+               return true;
+       }
+
+       virtual void changedOnCPU()
+       {
+               m_onGPU = false;
+       }
+}; // class btOpenCLBuffer
+
+
+#endif // #ifndef BT_SOFT_BODY_SOLVER_BUFFER_OPENCL_H
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverLinkData_OpenCL.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverLinkData_OpenCL.h
new file mode 100644 (file)
index 0000000..6921f7d
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverLinkData_OpenCL.h
@@ -0,0 +1,99 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h"
+#include "btSoftBodySolverBuffer_OpenCL.h"
+
+
+#ifndef BT_SOFT_BODY_SOLVER_LINK_DATA_OPENCL_H
+#define BT_SOFT_BODY_SOLVER_LINK_DATA_OPENCL_H
+
+
+class btSoftBodyLinkDataOpenCL : public btSoftBodyLinkData
+{
+public:
+       bool                            m_onGPU;
+
+       cl_command_queue        m_cqCommandQue;
+
+
+       btOpenCLBuffer<LinkNodePair> m_clLinks;
+       btOpenCLBuffer<float>                                                         m_clLinkStrength;
+       btOpenCLBuffer<float>                                                             m_clLinksMassLSC;
+       btOpenCLBuffer<float>                                                             m_clLinksRestLengthSquared;
+       btOpenCLBuffer<Vectormath::Aos::Vector3>                          m_clLinksCLength;
+       btOpenCLBuffer<float>                                                             m_clLinksLengthRatio;
+       btOpenCLBuffer<float>                                                             m_clLinksRestLength;
+       btOpenCLBuffer<float>                                                             m_clLinksMaterialLinearStiffnessCoefficient;
+
+       struct BatchPair
+       {
+               int start;
+               int length;
+
+               BatchPair() :
+                       start(0),
+                       length(0)
+               {
+               }
+
+               BatchPair( int s, int l ) : 
+                       start( s ),
+                       length( l )
+               {
+               }
+       };
+
+       /**
+        * Link addressing information for each cloth.
+        * Allows link locations to be computed independently of data batching.
+        */
+       btAlignedObjectArray< int >                                                     m_linkAddresses;
+
+       /**
+        * Start and length values for computation batches over link data.
+        */
+       btAlignedObjectArray< BatchPair >               m_batchStartLengths;
+
+       btSoftBodyLinkDataOpenCL(cl_command_queue queue, cl_context ctx);
+
+       virtual ~btSoftBodyLinkDataOpenCL();
+
+       /** Allocate enough space in all link-related arrays to fit numLinks links */
+       virtual void createLinks( int numLinks );
+       
+       /** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */
+       virtual void setLinkAt( 
+               const LinkDescription &link, 
+               int linkIndex );
+
+       virtual bool onAccelerator();
+
+       virtual bool moveToAccelerator();
+
+       virtual bool moveFromAccelerator();
+
+       /**
+        * Generate (and later update) the batching for the entire link set.
+        * This redoes a lot of work because it batches the entire set when each cloth is inserted.
+        * In theory we could delay it until just before we need the cloth.
+        * It's a one-off overhead, though, so that is a later optimisation.
+        */
+       void generateBatches();
+};
+
+
+
+#endif // #ifndef BT_SOFT_BODY_SOLVER_LINK_DATA_OPENCL_H

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverLinkData_OpenCLSIMDAware.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverLinkData_OpenCLSIMDAware.h
new file mode 100644 (file)
index 0000000..b20e805
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverLinkData_OpenCLSIMDAware.h
@@ -0,0 +1,169 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h"
+#include "btSoftBodySolverBuffer_OpenCL.h"
+
+
+#ifndef BT_SOFT_BODY_SOLVER_LINK_DATA_OPENCL_SIMDAWARE_H
+#define BT_SOFT_BODY_SOLVER_LINK_DATA_OPENCL_SIMDAWARE_H
+
+
+class btSoftBodyLinkDataOpenCLSIMDAware : public btSoftBodyLinkData
+{
+public:
+       bool                            m_onGPU;
+
+       cl_command_queue        m_cqCommandQue;
+
+       const int m_wavefrontSize;
+       const int m_linksPerWorkItem;
+       const int m_maxLinksPerWavefront;
+       int m_maxBatchesWithinWave;
+       int m_maxVerticesWithinWave;
+       int m_numWavefronts;
+
+       int m_maxVertex;
+
+       struct NumBatchesVerticesPair
+       {
+               int numBatches;
+               int numVertices;
+       };
+
+       btAlignedObjectArray<int>                                                         m_linksPerWavefront;
+       btAlignedObjectArray<NumBatchesVerticesPair>              m_numBatchesAndVerticesWithinWaves;
+       btOpenCLBuffer< NumBatchesVerticesPair >                          m_clNumBatchesAndVerticesWithinWaves;
+
+       // All arrays here will contain batches of m_maxLinksPerWavefront links
+       // ordered by wavefront.
+       // with either global vertex pairs or local vertex pairs
+       btAlignedObjectArray< int >                                                       m_wavefrontVerticesGlobalAddresses; // List of global vertices per wavefront
+       btOpenCLBuffer<int>                                                                       m_clWavefrontVerticesGlobalAddresses;
+       btAlignedObjectArray< LinkNodePair >                              m_linkVerticesLocalAddresses; // Vertex pair for the link
+       btOpenCLBuffer<LinkNodePair>                                              m_clLinkVerticesLocalAddresses;
+       btOpenCLBuffer<float>                                                         m_clLinkStrength;
+       btOpenCLBuffer<float>                                                             m_clLinksMassLSC;
+       btOpenCLBuffer<float>                                                             m_clLinksRestLengthSquared;
+       btOpenCLBuffer<float>                                                             m_clLinksRestLength;
+       btOpenCLBuffer<float>                                                             m_clLinksMaterialLinearStiffnessCoefficient;
+
+       struct BatchPair
+       {
+               int start;
+               int length;
+
+               BatchPair() :
+                       start(0),
+                       length(0)
+               {
+               }
+
+               BatchPair( int s, int l ) : 
+                       start( s ),
+                       length( l )
+               {
+               }
+       };
+
+       /**
+        * Link addressing information for each cloth.
+        * Allows link locations to be computed independently of data batching.
+        */
+       btAlignedObjectArray< int >                                                     m_linkAddresses;
+       
+       /**
+        * Start and length values for computation batches over link data.
+        */
+       btAlignedObjectArray< BatchPair >               m_wavefrontBatchStartLengths;
+
+       btSoftBodyLinkDataOpenCLSIMDAware(cl_command_queue queue, cl_context ctx);
+
+       virtual ~btSoftBodyLinkDataOpenCLSIMDAware();
+
+       /** Allocate enough space in all link-related arrays to fit numLinks links */
+       virtual void createLinks( int numLinks );
+       
+       /** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */
+       virtual void setLinkAt( 
+               const LinkDescription &link, 
+               int linkIndex );
+
+       virtual bool onAccelerator();
+
+       virtual bool moveToAccelerator();
+
+       virtual bool moveFromAccelerator();
+
+       /**
+        * Generate (and later update) the batching for the entire link set.
+        * This redoes a lot of work because it batches the entire set when each cloth is inserted.
+        * In theory we could delay it until just before we need the cloth.
+        * It's a one-off overhead, though, so that is a later optimisation.
+        */
+       void generateBatches();
+
+       int getMaxVerticesPerWavefront()
+       {
+               return m_maxVerticesWithinWave;
+       }
+
+       int getWavefrontSize()
+       {
+               return m_wavefrontSize;
+       }
+
+       int getLinksPerWorkItem()
+       {
+               return m_linksPerWorkItem;
+       }
+
+       int getMaxLinksPerWavefront()
+       {
+               return m_maxLinksPerWavefront;
+       }
+
+       int getMaxBatchesPerWavefront()
+       {
+               return m_maxBatchesWithinWave;
+       }
+
+       int getNumWavefronts()
+       {
+               return m_numWavefronts;
+       }
+
+       NumBatchesVerticesPair getNumBatchesAndVerticesWithinWavefront( int wavefront )
+       {
+               return m_numBatchesAndVerticesWithinWaves[wavefront];
+       }
+
+       int getVertexGlobalAddresses( int vertexIndex )
+       {
+               return m_wavefrontVerticesGlobalAddresses[vertexIndex];
+       }
+
+       /**
+        * Get post-batching local addresses of the vertex pair for a link assuming all vertices used by a wavefront are loaded locally.
+        */
+       LinkNodePair getVertexPairLocalAddresses( int linkIndex )
+       {
+               return m_linkVerticesLocalAddresses[linkIndex];
+       }
+};
+
+
+
+#endif // #ifndef BT_SOFT_BODY_SOLVER_LINK_DATA_OPENCL_SIMDAWARE_H

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverOutputCLtoGL.cpp b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverOutputCLtoGL.cpp
new file mode 100644 (file)
index 0000000..1000440
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverOutputCLtoGL.cpp
@@ -0,0 +1,126 @@
+#include "btSoftBodySolverOutputCLtoGL.h"
+#include <stdio.h> //@todo: remove the debugging printf at some stage
+#include "btSoftBodySolver_OpenCL.h"
+#include "BulletSoftBody/btSoftBodySolverVertexBuffer.h"
+#include "btSoftBodySolverVertexBuffer_OpenGL.h"
+#include "BulletSoftBody/btSoftBody.h"
+
+////OpenCL 1.0 kernels don't use float3
+#define MSTRINGIFY(A) #A
+static char* OutputToVertexArrayCLString =
+#include "OpenCLC10/OutputToVertexArray.cl"
+
+       
+#define RELEASE_CL_KERNEL(kernelName) {if( kernelName ){ clReleaseKernel( kernelName ); kernelName = 0; }}
+
+static const size_t workGroupSize = 128;
+
+void btSoftBodySolverOutputCLtoGL::copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer )
+{
+
+       btSoftBodySolver *solver = softBody->getSoftBodySolver();
+       btAssert( solver->getSolverType() == btSoftBodySolver::CL_SOLVER || solver->getSolverType() == btSoftBodySolver::CL_SIMD_SOLVER );
+       btOpenCLSoftBodySolver *dxSolver = static_cast< btOpenCLSoftBodySolver * >( solver );
+       checkInitialized();
+       btOpenCLAcceleratedSoftBodyInterface* currentCloth = dxSolver->findSoftBodyInterface( softBody );
+       btSoftBodyVertexDataOpenCL &vertexData( dxSolver->m_vertexData );       
+
+       const int firstVertex = currentCloth->getFirstVertex();
+       const int lastVertex = firstVertex + currentCloth->getNumVertices();
+
+       if( vertexBuffer->getBufferType() == btVertexBufferDescriptor::OPENGL_BUFFER ) {                
+
+               const btOpenGLInteropVertexBufferDescriptor *openGLVertexBuffer = static_cast< btOpenGLInteropVertexBufferDescriptor* >(vertexBuffer);                                          
+               cl_int ciErrNum = CL_SUCCESS;    
+
+               cl_mem clBuffer = openGLVertexBuffer->getBuffer();              
+               cl_kernel outputKernel = outputToVertexArrayWithNormalsKernel;
+               if( !vertexBuffer->hasNormals() )
+                       outputKernel = outputToVertexArrayWithoutNormalsKernel;
+
+               ciErrNum = clEnqueueAcquireGLObjects(m_cqCommandQue, 1, &clBuffer, 0, 0, NULL);
+               if( ciErrNum != CL_SUCCESS )
+               {
+                       btAssert( 0 &&  "clEnqueueAcquireGLObjects(copySoftBodyToVertexBuffer)");
+               }
+
+               int numVertices = currentCloth->getNumVertices();
+
+               ciErrNum = clSetKernelArg(outputKernel, 0, sizeof(int), &firstVertex );
+               ciErrNum = clSetKernelArg(outputKernel, 1, sizeof(int), &numVertices );
+               ciErrNum = clSetKernelArg(outputKernel, 2, sizeof(cl_mem), (void*)&clBuffer );
+               if( vertexBuffer->hasVertexPositions() )
+               {
+                       int vertexOffset = vertexBuffer->getVertexOffset();
+                       int vertexStride = vertexBuffer->getVertexStride();
+                       ciErrNum = clSetKernelArg(outputKernel, 3, sizeof(int), &vertexOffset );
+                       ciErrNum = clSetKernelArg(outputKernel, 4, sizeof(int), &vertexStride );
+                       ciErrNum = clSetKernelArg(outputKernel, 5, sizeof(cl_mem), (void*)&vertexData.m_clVertexPosition.m_buffer );
+
+               }
+               if( vertexBuffer->hasNormals() )
+               {
+                       int normalOffset = vertexBuffer->getNormalOffset();
+                       int normalStride = vertexBuffer->getNormalStride();
+                       ciErrNum = clSetKernelArg(outputKernel, 6, sizeof(int), &normalOffset );
+                       ciErrNum = clSetKernelArg(outputKernel, 7, sizeof(int), &normalStride );
+                       ciErrNum = clSetKernelArg(outputKernel, 8, sizeof(cl_mem), (void*)&vertexData.m_clVertexNormal.m_buffer );
+
+               }
+               size_t  numWorkItems = workGroupSize*((vertexData.getNumVertices() + (workGroupSize-1)) / workGroupSize);
+               ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue, outputKernel, 1, NULL, &numWorkItems, &workGroupSize,0 ,0 ,0);
+               if( ciErrNum != CL_SUCCESS ) 
+               {
+                       btAssert( 0 &&  "enqueueNDRangeKernel(copySoftBodyToVertexBuffer)");
+               }
+
+               ciErrNum = clEnqueueReleaseGLObjects(m_cqCommandQue, 1, &clBuffer, 0, 0, 0);
+               if( ciErrNum != CL_SUCCESS )
+               {
+                       btAssert( 0 &&  "clEnqueueReleaseGLObjects(copySoftBodyToVertexBuffer)");
+               }
+       } else {
+               btAssert( "Undefined output for this solver output" == false );
+       }
+
+       // clFinish in here may not be the best thing. It's possible that we should have a waitForFrameComplete function.
+       clFinish(m_cqCommandQue);
+
+} // btSoftBodySolverOutputCLtoGL::outputToVertexBuffers
+
+bool btSoftBodySolverOutputCLtoGL::buildShaders()
+{
+       // Ensure current kernels are released first
+       releaseKernels();
+
+       bool returnVal = true;
+
+       if( m_shadersInitialized )
+               return true;
+       
+       outputToVertexArrayWithNormalsKernel = clFunctions.compileCLKernelFromString( OutputToVertexArrayCLString, "OutputToVertexArrayWithNormalsKernel" ,"","OpenCLC10/OutputToVertexArray.cl");
+       outputToVertexArrayWithoutNormalsKernel = clFunctions.compileCLKernelFromString( OutputToVertexArrayCLString, "OutputToVertexArrayWithoutNormalsKernel" ,"","OpenCLC10/OutputToVertexArray.cl");
+
+
+       if( returnVal )
+               m_shadersInitialized = true;
+
+       return returnVal;
+} // btSoftBodySolverOutputCLtoGL::buildShaders
+
+void btSoftBodySolverOutputCLtoGL::releaseKernels()
+{
+       RELEASE_CL_KERNEL( outputToVertexArrayWithNormalsKernel );
+       RELEASE_CL_KERNEL( outputToVertexArrayWithoutNormalsKernel );
+
+       m_shadersInitialized = false;
+} // btSoftBodySolverOutputCLtoGL::releaseKernels
+
+bool btSoftBodySolverOutputCLtoGL::checkInitialized()
+{
+       if( !m_shadersInitialized )
+               if( buildShaders() )
+                       m_shadersInitialized = true;
+
+       return m_shadersInitialized;
+}
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverOutputCLtoGL.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverOutputCLtoGL.h
new file mode 100644 (file)
index 0000000..ab3ea26
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverOutputCLtoGL.h
@@ -0,0 +1,62 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_SOFT_BODY_SOLVER_OUTPUT_CL_TO_GL_H
+#define BT_SOFT_BODY_SOLVER_OUTPUT_CL_TO_GL_H
+
+#include "btSoftBodySolver_OpenCL.h"
+
+/** 
+ * Class to manage movement of data from a solver to a given target.
+ * This version is the CL to GL interop version.
+ */
+class btSoftBodySolverOutputCLtoGL : public btSoftBodySolverOutput
+{
+protected:
+       cl_command_queue        m_cqCommandQue;
+       cl_context                      m_cxMainContext;
+       CLFunctions                     clFunctions;
+       
+       cl_kernel               outputToVertexArrayWithNormalsKernel;
+       cl_kernel               outputToVertexArrayWithoutNormalsKernel;
+
+       bool m_shadersInitialized;
+       
+       virtual bool checkInitialized();        
+       virtual bool buildShaders();
+       void releaseKernels();
+public:
+       btSoftBodySolverOutputCLtoGL(cl_command_queue cqCommandQue, cl_context cxMainContext) :
+               m_cqCommandQue( cqCommandQue ),
+               m_cxMainContext( cxMainContext ),
+               clFunctions(cqCommandQue, cxMainContext),
+               outputToVertexArrayWithNormalsKernel( 0 ),
+               outputToVertexArrayWithoutNormalsKernel( 0 ),
+               m_shadersInitialized( false )
+       {
+       }
+
+       virtual ~btSoftBodySolverOutputCLtoGL()
+       {
+               releaseKernels();
+       }
+
+       /** Output current computed vertex data to the vertex buffers for all cloths in the solver. */
+       virtual void copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer );
+};
+
+
+
+#endif // #ifndef BT_SOFT_BODY_SOLVER_OUTPUT_CL_TO_GL_H
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverTriangleData_OpenCL.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverTriangleData_OpenCL.h
new file mode 100644 (file)
index 0000000..7e37678
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverTriangleData_OpenCL.h
@@ -0,0 +1,84 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#include "BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h"
+#include "btSoftBodySolverBuffer_OpenCL.h"
+
+
+#ifndef BT_SOFT_BODY_SOLVER_TRIANGLE_DATA_OPENCL_H
+#define BT_SOFT_BODY_SOLVER_TRIANGLE_DATA_OPENCL_H
+
+
+class btSoftBodyTriangleDataOpenCL : public btSoftBodyTriangleData
+{
+public:
+       bool                            m_onGPU;
+       cl_command_queue    m_queue;
+
+       btOpenCLBuffer<btSoftBodyTriangleData::TriangleNodeSet>                                 m_clVertexIndices;
+       btOpenCLBuffer<float>                                                           m_clArea;
+       btOpenCLBuffer<Vectormath::Aos::Vector3>                        m_clNormal;
+
+       /**
+        * Link addressing information for each cloth.
+        * Allows link locations to be computed independently of data batching.
+        */
+       btAlignedObjectArray< int >                                                     m_triangleAddresses;
+
+       /**
+        * Start and length values for computation batches over link data.
+        */
+       struct btSomePair
+       {
+               btSomePair() {}
+               btSomePair(int f,int s)
+                       :first(f),second(s)
+               {
+               }
+               int first;
+               int second;
+       };
+       btAlignedObjectArray< btSomePair >              m_batchStartLengths;
+
+public:
+       btSoftBodyTriangleDataOpenCL( cl_command_queue queue, cl_context ctx );
+
+       virtual ~btSoftBodyTriangleDataOpenCL();
+
+       /** Allocate enough space in all link-related arrays to fit numLinks links */
+       virtual void createTriangles( int numTriangles );
+       
+       /** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */
+       virtual void setTriangleAt( const btSoftBodyTriangleData::TriangleDescription &triangle, int triangleIndex );
+
+       virtual bool onAccelerator();
+
+       virtual bool moveToAccelerator();
+
+       virtual bool moveFromAccelerator();
+
+       /**
+        * Generate (and later update) the batching for the entire triangle set.
+        * This redoes a lot of work because it batches the entire set when each cloth is inserted.
+        * In theory we could delay it until just before we need the cloth.
+        * It's a one-off overhead, though, so that is a later optimisation.
+        */
+       void generateBatches();
+}; // class btSoftBodyTriangleDataOpenCL
+
+
+#endif // #ifndef BT_SOFT_BODY_SOLVER_TRIANGLE_DATA_OPENCL_H
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverVertexBuffer_OpenGL.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverVertexBuffer_OpenGL.h
new file mode 100644 (file)
index 0000000..7c223ec
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverVertexBuffer_OpenGL.h
@@ -0,0 +1,166 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_OPENGL_H
+#define BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_OPENGL_H 
+
+
+#include "BulletSoftBody/btSoftBodySolverVertexBuffer.h"
+#ifdef USE_MINICL
+       #include "MiniCL/cl.h"
+#else //USE_MINICL
+       #ifdef __APPLE__
+               #include <OpenCL/OpenCL.h>
+       #else
+               #include <CL/cl.h>
+               #include <CL/cl_gl.h>
+       #endif //__APPLE__
+#endif//USE_MINICL
+
+
+#ifdef _WIN32//for glut.h
+#include <windows.h>
+#endif
+
+//think different
+#if defined(__APPLE__) && !defined (VMDMESA)
+#include <OpenGL/OpenGL.h>
+#include <OpenGL/gl.h>
+#include <OpenGL/glu.h>
+#include <GLUT/glut.h>
+#else
+
+
+#ifdef _WINDOWS
+#include <windows.h>
+#include <GL/gl.h>
+#include <GL/glu.h>
+#else
+#include <GL/glut.h>
+#endif //_WINDOWS
+#endif //APPLE
+
+
+
+class btOpenGLInteropVertexBufferDescriptor : public btVertexBufferDescriptor
+{
+protected:
+       /** OpenCL context */
+       cl_context                      m_context;
+
+       /** OpenCL command queue */
+       cl_command_queue        m_commandQueue;
+       
+       /** OpenCL interop buffer */
+       cl_mem m_buffer;
+
+       /** VBO in GL that is the basis of the interop buffer */
+       GLuint m_openGLVBO;
+
+
+public:
+       /**
+        * context is the OpenCL context this interop buffer will work in.
+        * queue is the command queue that kernels and data movement will be enqueued into.
+        * openGLVBO is the OpenGL vertex buffer data will be copied into.
+        * vertexOffset is the offset in floats to the first vertex.
+        * vertexStride is the stride in floats between vertices.
+        */
+       btOpenGLInteropVertexBufferDescriptor( cl_command_queue cqCommandQue, cl_context context, GLuint openGLVBO, int vertexOffset, int vertexStride )
+       {
+#ifndef USE_MINICL
+               cl_int ciErrNum = CL_SUCCESS;
+               m_context = context;
+               m_commandQueue = cqCommandQue;
+               
+               m_vertexOffset = vertexOffset;
+               m_vertexStride = vertexStride;
+
+               m_openGLVBO = openGLVBO;
+               
+               m_buffer = clCreateFromGLBuffer(m_context, CL_MEM_WRITE_ONLY, openGLVBO, &ciErrNum);
+               if( ciErrNum != CL_SUCCESS )
+               {
+                       btAssert( 0 &&  "clEnqueueAcquireGLObjects(copySoftBodyToVertexBuffer)");
+               }
+
+               m_hasVertexPositions = true;
+#else
+               btAssert(0);//MiniCL shouldn't get here
+#endif
+       }
+
+       /**
+        * context is the OpenCL context this interop buffer will work in.
+        * queue is the command queue that kernels and data movement will be enqueued into.
+        * openGLVBO is the OpenGL vertex buffer data will be copied into.
+        * vertexOffset is the offset in floats to the first vertex.
+        * vertexStride is the stride in floats between vertices.
+        * normalOffset is the offset in floats to the first normal.
+        * normalStride is the stride in floats between normals.
+        */
+       btOpenGLInteropVertexBufferDescriptor( cl_command_queue cqCommandQue, cl_context context, GLuint openGLVBO, int vertexOffset, int vertexStride, int normalOffset, int normalStride )
+       {
+#ifndef USE_MINICL
+               cl_int ciErrNum = CL_SUCCESS;
+               m_context = context;
+               m_commandQueue = cqCommandQue;
+               
+               m_openGLVBO = openGLVBO;
+               
+               m_buffer = clCreateFromGLBuffer(m_context, CL_MEM_WRITE_ONLY, openGLVBO, &ciErrNum);
+               if( ciErrNum != CL_SUCCESS )
+               {
+                       btAssert( 0 &&  "clEnqueueAcquireGLObjects(copySoftBodyToVertexBuffer)");
+               }
+
+               m_vertexOffset = vertexOffset;
+               m_vertexStride = vertexStride;
+               m_hasVertexPositions = true;
+
+               m_normalOffset = normalOffset;
+               m_normalStride = normalStride;
+               m_hasNormals = true;
+#else
+               btAssert(0);
+#endif //USE_MINICL
+               
+       }
+
+       virtual ~btOpenGLInteropVertexBufferDescriptor()
+       {
+               clReleaseMemObject( m_buffer );
+       }
+
+       /**
+        * Return the type of the vertex buffer descriptor.
+        */
+       virtual BufferTypes getBufferType() const
+       {
+               return OPENGL_BUFFER;
+       }
+
+       virtual cl_context getContext() const
+       {
+               return m_context;
+       }
+
+       virtual cl_mem getBuffer() const
+       {
+               return m_buffer;
+       }       
+};
+
+#endif // #ifndef BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_OPENGL_H

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverVertexData_OpenCL.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverVertexData_OpenCL.h
new file mode 100644 (file)
index 0000000..531c342
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverVertexData_OpenCL.h
@@ -0,0 +1,52 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h"
+#include "btSoftBodySolverBuffer_OpenCL.h"
+
+#ifndef BT_SOFT_BODY_SOLVER_VERTEX_DATA_OPENCL_H
+#define BT_SOFT_BODY_SOLVER_VERTEX_DATA_OPENCL_H
+
+
+class btSoftBodyVertexDataOpenCL : public btSoftBodyVertexData
+{
+protected:
+       bool            m_onGPU;
+       cl_command_queue        m_queue;
+
+public:
+       btOpenCLBuffer<int>                                                                     m_clClothIdentifier;
+       btOpenCLBuffer<Vectormath::Aos::Point3>                         m_clVertexPosition;
+       btOpenCLBuffer<Vectormath::Aos::Point3>                         m_clVertexPreviousPosition;
+       btOpenCLBuffer<Vectormath::Aos::Vector3>                                m_clVertexVelocity;
+       btOpenCLBuffer<Vectormath::Aos::Vector3>                                m_clVertexForceAccumulator;
+       btOpenCLBuffer<Vectormath::Aos::Vector3>                                m_clVertexNormal;
+       btOpenCLBuffer<float>                                                                   m_clVertexInverseMass;
+       btOpenCLBuffer<float>                                                                   m_clVertexArea;
+       btOpenCLBuffer<int>                                                                     m_clVertexTriangleCount;
+public:
+       btSoftBodyVertexDataOpenCL( cl_command_queue queue,  cl_context ctx);
+
+       virtual ~btSoftBodyVertexDataOpenCL();
+
+       virtual bool onAccelerator();
+
+       virtual bool moveToAccelerator();
+
+       virtual bool moveFromAccelerator(bool bCopy = false, bool bCopyMinimum = true);
+};
+
+
+#endif // #ifndef BT_SOFT_BODY_SOLVER_VERTEX_DATA_OPENCL_H

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.cpp b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.cpp
new file mode 100644 (file)
index 0000000..e5f4ebb
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.cpp
@@ -0,0 +1,1820 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
+#include "vectormath/vmInclude.h"
+#include <stdio.h> //@todo: remove the debugging printf at some stage
+#include "btSoftBodySolver_OpenCL.h"
+#include "BulletSoftBody/btSoftBodySolverVertexBuffer.h"
+#include "BulletSoftBody/btSoftBody.h"
+#include "BulletSoftBody/btSoftBodyInternals.h"
+#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
+#include "BulletCollision/CollisionShapes/btSphereShape.h"
+#include "LinearMath/btQuickprof.h"
+#include <limits.h>
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
+
+#define BT_SUPPRESS_OPENCL_ASSERTS
+
+#ifdef USE_MINICL
+       #include "MiniCL/cl.h"
+#else //USE_MINICL
+       #ifdef __APPLE__
+               #include <OpenCL/OpenCL.h>
+       #else
+               #include <CL/cl.h>
+       #endif //__APPLE__
+#endif//USE_MINICL
+
+#define BT_DEFAULT_WORKGROUPSIZE 64
+
+
+#define RELEASE_CL_KERNEL(kernelName) {if( kernelName ){ clReleaseKernel( kernelName ); kernelName = 0; }}
+
+
+//CL_VERSION_1_1 seems broken on NVidia SDK so just disable it
+
+////OpenCL 1.0 kernels don't use float3
+#define MSTRINGIFY(A) #A
+static const char* PrepareLinksCLString = 
+#include "OpenCLC10/PrepareLinks.cl"
+static const char* UpdatePositionsFromVelocitiesCLString = 
+#include "OpenCLC10/UpdatePositionsFromVelocities.cl"
+static const char* SolvePositionsCLString = 
+#include "OpenCLC10/SolvePositions.cl"
+static const char* UpdateNodesCLString = 
+#include "OpenCLC10/UpdateNodes.cl"
+static const char* UpdatePositionsCLString = 
+#include "OpenCLC10/UpdatePositions.cl"
+static const char* UpdateConstantsCLString = 
+#include "OpenCLC10/UpdateConstants.cl"
+static const char* IntegrateCLString = 
+#include "OpenCLC10/Integrate.cl"
+static const char* ApplyForcesCLString = 
+#include "OpenCLC10/ApplyForces.cl"
+static const char* UpdateFixedVertexPositionsCLString = 
+#include "OpenCLC10/UpdateFixedVertexPositions.cl"
+static const char* UpdateNormalsCLString = 
+#include "OpenCLC10/UpdateNormals.cl"
+static const char* VSolveLinksCLString = 
+#include "OpenCLC10/VSolveLinks.cl"
+static const char* SolveCollisionsAndUpdateVelocitiesCLString =
+#include "OpenCLC10/SolveCollisionsAndUpdateVelocities.cl"
+
+
+btSoftBodyVertexDataOpenCL::btSoftBodyVertexDataOpenCL( cl_command_queue queue, cl_context ctx) :
+    m_queue(queue),
+       m_clClothIdentifier( queue, ctx, &m_clothIdentifier, false ),
+       m_clVertexPosition( queue, ctx, &m_vertexPosition, false ),
+       m_clVertexPreviousPosition( queue, ctx, &m_vertexPreviousPosition, false ),
+       m_clVertexVelocity( queue, ctx, &m_vertexVelocity, false ),
+       m_clVertexForceAccumulator( queue, ctx, &m_vertexForceAccumulator, false ),
+       m_clVertexNormal( queue, ctx, &m_vertexNormal, false ),
+       m_clVertexInverseMass( queue, ctx, &m_vertexInverseMass, false ),
+       m_clVertexArea( queue, ctx, &m_vertexArea, false ),
+       m_clVertexTriangleCount( queue, ctx, &m_vertexTriangleCount, false )
+{
+}
+
+btSoftBodyVertexDataOpenCL::~btSoftBodyVertexDataOpenCL()
+{
+
+}
+
+bool btSoftBodyVertexDataOpenCL::onAccelerator()
+{
+       return m_onGPU;
+}
+
+bool btSoftBodyVertexDataOpenCL::moveToAccelerator()
+{
+       bool success = true;
+       success = success && m_clClothIdentifier.moveToGPU();
+       success = success && m_clVertexPosition.moveToGPU();
+       success = success && m_clVertexPreviousPosition.moveToGPU();
+       success = success && m_clVertexVelocity.moveToGPU();
+       success = success && m_clVertexForceAccumulator.moveToGPU();
+       success = success && m_clVertexNormal.moveToGPU();
+       success = success && m_clVertexInverseMass.moveToGPU();
+       success = success && m_clVertexArea.moveToGPU();
+       success = success && m_clVertexTriangleCount.moveToGPU();
+
+       if( success )
+               m_onGPU = true;
+
+       return success;
+}
+
+bool btSoftBodyVertexDataOpenCL::moveFromAccelerator(bool bCopy, bool bCopyMinimum)
+{
+       bool success = true;
+
+       if (!bCopy)
+       {
+               success = success && m_clClothIdentifier.moveFromGPU();
+               success = success && m_clVertexPosition.moveFromGPU();
+               success = success && m_clVertexPreviousPosition.moveFromGPU();
+               success = success && m_clVertexVelocity.moveFromGPU();
+               success = success && m_clVertexForceAccumulator.moveFromGPU();
+               success = success && m_clVertexNormal.moveFromGPU();
+               success = success && m_clVertexInverseMass.moveFromGPU();
+               success = success && m_clVertexArea.moveFromGPU();
+               success = success && m_clVertexTriangleCount.moveFromGPU();
+       }
+       else
+       {
+               if (bCopyMinimum)
+               {
+                       success = success && m_clVertexPosition.copyFromGPU();
+                       success = success && m_clVertexNormal.copyFromGPU();
+               }
+               else
+               {
+                       success = success && m_clClothIdentifier.copyFromGPU();
+                       success = success && m_clVertexPosition.copyFromGPU();
+                       success = success && m_clVertexPreviousPosition.copyFromGPU();
+                       success = success && m_clVertexVelocity.copyFromGPU();
+                       success = success && m_clVertexForceAccumulator.copyFromGPU();
+                       success = success && m_clVertexNormal.copyFromGPU();
+                       success = success && m_clVertexInverseMass.copyFromGPU();
+                       success = success && m_clVertexArea.copyFromGPU();
+                       success = success && m_clVertexTriangleCount.copyFromGPU();
+               }
+       }
+
+       if( success )
+               m_onGPU = true;
+
+       return success;
+}
+
+btSoftBodyLinkDataOpenCL::btSoftBodyLinkDataOpenCL(cl_command_queue queue,  cl_context ctx) 
+:m_cqCommandQue(queue),
+       m_clLinks( queue, ctx, &m_links, false ),
+       m_clLinkStrength( queue, ctx, &m_linkStrength, false ),
+       m_clLinksMassLSC( queue, ctx, &m_linksMassLSC, false ),
+       m_clLinksRestLengthSquared( queue, ctx, &m_linksRestLengthSquared, false ),
+       m_clLinksCLength( queue, ctx, &m_linksCLength, false ),
+       m_clLinksLengthRatio( queue, ctx, &m_linksLengthRatio, false ),
+       m_clLinksRestLength( queue, ctx, &m_linksRestLength, false ),
+       m_clLinksMaterialLinearStiffnessCoefficient( queue, ctx, &m_linksMaterialLinearStiffnessCoefficient, false )
+{
+}
+
+btSoftBodyLinkDataOpenCL::~btSoftBodyLinkDataOpenCL()
+{
+}
+
+static Vectormath::Aos::Vector3 toVector3( const btVector3 &vec )
+{
+       Vectormath::Aos::Vector3 outVec( vec.getX(), vec.getY(), vec.getZ() );
+       return outVec;
+}
+
+/** Allocate enough space in all link-related arrays to fit numLinks links */
+void btSoftBodyLinkDataOpenCL::createLinks( int numLinks )
+{
+       int previousSize = m_links.size();
+       int newSize = previousSize + numLinks;
+
+       btSoftBodyLinkData::createLinks( numLinks );
+
+       // Resize the link addresses array as well
+       m_linkAddresses.resize( newSize );
+}
+
+/** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */
+void btSoftBodyLinkDataOpenCL::setLinkAt( 
+       const LinkDescription &link, 
+       int linkIndex )
+{
+       btSoftBodyLinkData::setLinkAt( link, linkIndex );
+
+       // Set the link index correctly for initialisation
+       m_linkAddresses[linkIndex] = linkIndex;
+}
+
+bool btSoftBodyLinkDataOpenCL::onAccelerator()
+{
+       return m_onGPU;
+}
+
+bool btSoftBodyLinkDataOpenCL::moveToAccelerator()
+{
+       bool success = true;
+       success = success && m_clLinks.moveToGPU();
+       success = success && m_clLinkStrength.moveToGPU();
+       success = success && m_clLinksMassLSC.moveToGPU();
+       success = success && m_clLinksRestLengthSquared.moveToGPU();
+       success = success && m_clLinksCLength.moveToGPU();
+       success = success && m_clLinksLengthRatio.moveToGPU();
+       success = success && m_clLinksRestLength.moveToGPU();
+       success = success && m_clLinksMaterialLinearStiffnessCoefficient.moveToGPU();
+
+       if( success ) {
+               m_onGPU = true;
+       }
+
+       return success;
+}
+
+bool btSoftBodyLinkDataOpenCL::moveFromAccelerator()
+{
+       bool success = true;
+       success = success && m_clLinks.moveFromGPU();
+       success = success && m_clLinkStrength.moveFromGPU();
+       success = success && m_clLinksMassLSC.moveFromGPU();
+       success = success && m_clLinksRestLengthSquared.moveFromGPU();
+       success = success && m_clLinksCLength.moveFromGPU();
+       success = success && m_clLinksLengthRatio.moveFromGPU();
+       success = success && m_clLinksRestLength.moveFromGPU();
+       success = success && m_clLinksMaterialLinearStiffnessCoefficient.moveFromGPU();
+
+       if( success ) {
+               m_onGPU = false;
+       }
+
+       return success;
+}
+
+/**
+ * Generate (and later update) the batching for the entire link set.
+ * This redoes a lot of work because it batches the entire set when each cloth is inserted.
+ * In theory we could delay it until just before we need the cloth.
+ * It's a one-off overhead, though, so that is a later optimisation.
+ */
+void btSoftBodyLinkDataOpenCL::generateBatches()
+{
+       int numLinks = getNumLinks();
+
+       // Do the graph colouring here temporarily
+       btAlignedObjectArray< int > batchValues;
+       batchValues.resize( numLinks, 0 );
+
+       // Find the maximum vertex value internally for now
+       int maxVertex = 0;
+       for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex )
+       {
+               int vertex0 = getVertexPair(linkIndex).vertex0;
+               int vertex1 = getVertexPair(linkIndex).vertex1;
+               if( vertex0 > maxVertex )
+                       maxVertex = vertex0;
+               if( vertex1 > maxVertex )
+                       maxVertex = vertex1;
+       }
+       int numVertices = maxVertex + 1;
+
+       // Set of lists, one for each node, specifying which colours are connected
+       // to that node.
+       // No two edges into a node can share a colour.
+       btAlignedObjectArray< btAlignedObjectArray< int > > vertexConnectedColourLists;
+       vertexConnectedColourLists.resize(numVertices);
+
+       // Simple algorithm that chooses the lowest batch number
+       // that none of the links attached to either of the connected 
+       // nodes is in
+       for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex )
+       {                               
+               int linkLocation = m_linkAddresses[linkIndex];
+
+               int vertex0 = getVertexPair(linkLocation).vertex0;
+               int vertex1 = getVertexPair(linkLocation).vertex1;
+
+               // Get the two node colour lists
+               btAlignedObjectArray< int > &colourListVertex0( vertexConnectedColourLists[vertex0] );
+               btAlignedObjectArray< int > &colourListVertex1( vertexConnectedColourLists[vertex1] );
+
+               // Choose the minimum colour that is in neither list
+               int colour = 0;
+               while( colourListVertex0.findLinearSearch(colour) != colourListVertex0.size() || colourListVertex1.findLinearSearch(colour) != colourListVertex1.size()  )
+                       ++colour;
+               // i should now be the minimum colour in neither list
+               // Add to the two lists so that future edges don't share
+               // And store the colour against this edge
+
+               colourListVertex0.push_back(colour);
+               colourListVertex1.push_back(colour);
+               batchValues[linkIndex] = colour;
+       }
+
+       // Check the colour counts
+       btAlignedObjectArray< int > batchCounts;
+       for( int i = 0; i < numLinks; ++i )
+       {
+               int batch = batchValues[i];
+               if( batch >= batchCounts.size() )
+                       batchCounts.push_back(1);
+               else
+                       ++(batchCounts[batch]);
+       }
+
+       m_batchStartLengths.resize(batchCounts.size());
+       if( m_batchStartLengths.size() > 0 )
+       {
+               m_batchStartLengths.resize(batchCounts.size());
+               m_batchStartLengths[0] = BatchPair(0, 0);
+
+               int sum = 0;
+               for( int batchIndex = 0; batchIndex < batchCounts.size(); ++batchIndex )
+               {
+                       m_batchStartLengths[batchIndex].start = sum;
+                       m_batchStartLengths[batchIndex].length = batchCounts[batchIndex];
+                       sum += batchCounts[batchIndex];
+               }
+       }
+
+       /////////////////////////////
+       // Sort data based on batches
+
+       // Create source arrays by copying originals
+       btAlignedObjectArray<LinkNodePair>                                                                      m_links_Backup(m_links);
+       btAlignedObjectArray<float>                                                                                     m_linkStrength_Backup(m_linkStrength);
+       btAlignedObjectArray<float>                                                                                     m_linksMassLSC_Backup(m_linksMassLSC);
+       btAlignedObjectArray<float>                                                                                     m_linksRestLengthSquared_Backup(m_linksRestLengthSquared);
+       btAlignedObjectArray<Vectormath::Aos::Vector3>                                          m_linksCLength_Backup(m_linksCLength);
+       btAlignedObjectArray<float>                                                                                     m_linksLengthRatio_Backup(m_linksLengthRatio);
+       btAlignedObjectArray<float>                                                                                     m_linksRestLength_Backup(m_linksRestLength);
+       btAlignedObjectArray<float>                                                                                     m_linksMaterialLinearStiffnessCoefficient_Backup(m_linksMaterialLinearStiffnessCoefficient);
+
+
+       for( int batch = 0; batch < batchCounts.size(); ++batch )
+               batchCounts[batch] = 0;
+
+       // Do sort as single pass into destination arrays       
+       for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex )
+       {
+               // To maintain locations run off the original link locations rather than the current position.
+               // It's not cache efficient, but as we run this rarely that should not matter.
+               // It's faster than searching the link location array for the current location and then updating it.
+               // The other alternative would be to unsort before resorting, but this is equivalent to doing that.
+               int linkLocation = m_linkAddresses[linkIndex];
+
+               // Obtain batch and calculate target location for the
+               // next element in that batch, incrementing the batch counter
+               // afterwards
+               int batch = batchValues[linkIndex];
+               int newLocation = m_batchStartLengths[batch].start + batchCounts[batch];
+
+               batchCounts[batch] = batchCounts[batch] + 1;
+               m_links[newLocation] = m_links_Backup[linkLocation];
+#if 1
+               m_linkStrength[newLocation] = m_linkStrength_Backup[linkLocation];
+               m_linksMassLSC[newLocation] = m_linksMassLSC_Backup[linkLocation];
+               m_linksRestLengthSquared[newLocation] = m_linksRestLengthSquared_Backup[linkLocation];
+               m_linksLengthRatio[newLocation] = m_linksLengthRatio_Backup[linkLocation];
+               m_linksRestLength[newLocation] = m_linksRestLength_Backup[linkLocation];
+               m_linksMaterialLinearStiffnessCoefficient[newLocation] = m_linksMaterialLinearStiffnessCoefficient_Backup[linkLocation];
+#endif
+               // Update the locations array to account for the moved entry
+               m_linkAddresses[linkIndex] = newLocation;
+       }
+
+
+} // void generateBatches()
+
+
+
+
+
+btSoftBodyTriangleDataOpenCL::btSoftBodyTriangleDataOpenCL( cl_command_queue queue , cl_context ctx) : 
+    m_queue( queue ),
+       m_clVertexIndices( queue, ctx, &m_vertexIndices, false ),
+       m_clArea( queue, ctx, &m_area, false ),
+       m_clNormal( queue, ctx, &m_normal, false )
+{
+}
+
+btSoftBodyTriangleDataOpenCL::~btSoftBodyTriangleDataOpenCL()
+{
+}
+
+/** Allocate enough space in all link-related arrays to fit numLinks links */
+void btSoftBodyTriangleDataOpenCL::createTriangles( int numTriangles )
+{
+       int previousSize = getNumTriangles();
+       int newSize = previousSize + numTriangles;
+
+       btSoftBodyTriangleData::createTriangles( numTriangles );
+
+       // Resize the link addresses array as well
+       m_triangleAddresses.resize( newSize );
+}
+
+/** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */
+void btSoftBodyTriangleDataOpenCL::setTriangleAt( const btSoftBodyTriangleData::TriangleDescription &triangle, int triangleIndex )
+{
+       btSoftBodyTriangleData::setTriangleAt( triangle, triangleIndex );
+
+       m_triangleAddresses[triangleIndex] = triangleIndex;
+}
+
+bool btSoftBodyTriangleDataOpenCL::onAccelerator()
+{
+       return m_onGPU;
+}
+
+bool btSoftBodyTriangleDataOpenCL::moveToAccelerator()
+{
+       bool success = true;
+       success = success && m_clVertexIndices.moveToGPU();
+       success = success && m_clArea.moveToGPU();
+       success = success && m_clNormal.moveToGPU();
+
+       if( success )
+               m_onGPU = true;
+
+       return success;
+}
+
+bool btSoftBodyTriangleDataOpenCL::moveFromAccelerator()
+{
+       bool success = true;
+       success = success && m_clVertexIndices.moveFromGPU();
+       success = success && m_clArea.moveFromGPU();
+       success = success && m_clNormal.moveFromGPU();
+
+       if( success )
+               m_onGPU = true;
+
+       return success;
+}
+
+/**
+ * Generate (and later update) the batching for the entire triangle set.
+ * This redoes a lot of work because it batches the entire set when each cloth is inserted.
+ * In theory we could delay it until just before we need the cloth.
+ * It's a one-off overhead, though, so that is a later optimisation.
+ */
+void btSoftBodyTriangleDataOpenCL::generateBatches()
+{
+       int numTriangles = getNumTriangles();
+       if( numTriangles == 0 )
+               return;
+
+       // Do the graph colouring here temporarily
+       btAlignedObjectArray< int > batchValues;
+       batchValues.resize( numTriangles );
+
+       // Find the maximum vertex value internally for now
+       int maxVertex = 0;
+       for( int triangleIndex = 0; triangleIndex < numTriangles; ++triangleIndex )
+       {
+               int vertex0 = getVertexSet(triangleIndex).vertex0;
+               int vertex1 = getVertexSet(triangleIndex).vertex1;
+               int vertex2 = getVertexSet(triangleIndex).vertex2;
+               
+               if( vertex0 > maxVertex )
+                       maxVertex = vertex0;
+               if( vertex1 > maxVertex )
+                       maxVertex = vertex1;
+               if( vertex2 > maxVertex )
+                       maxVertex = vertex2;
+       }
+       int numVertices = maxVertex + 1;
+
+       // Set of lists, one for each node, specifying which colours are connected
+       // to that node.
+       // No two edges into a node can share a colour.
+       btAlignedObjectArray< btAlignedObjectArray< int > > vertexConnectedColourLists;
+       vertexConnectedColourLists.resize(numVertices);
+
+
+       //std::cout << "\n";
+       // Simple algorithm that chooses the lowest batch number
+       // that none of the faces attached to either of the connected 
+       // nodes is in
+       for( int triangleIndex = 0; triangleIndex < numTriangles; ++triangleIndex )
+       {
+               // To maintain locations run off the original link locations rather than the current position.
+               // It's not cache efficient, but as we run this rarely that should not matter.
+               // It's faster than searching the link location array for the current location and then updating it.
+               // The other alternative would be to unsort before resorting, but this is equivalent to doing that.
+               int triangleLocation = m_triangleAddresses[triangleIndex];
+
+               int vertex0 = getVertexSet(triangleLocation).vertex0;
+               int vertex1 = getVertexSet(triangleLocation).vertex1;
+               int vertex2 = getVertexSet(triangleLocation).vertex2;
+
+               // Get the three node colour lists
+               btAlignedObjectArray< int > &colourListVertex0( vertexConnectedColourLists[vertex0] );
+               btAlignedObjectArray< int > &colourListVertex1( vertexConnectedColourLists[vertex1] );
+               btAlignedObjectArray< int > &colourListVertex2( vertexConnectedColourLists[vertex2] );
+
+               // Choose the minimum colour that is in none of the lists
+               int colour = 0;
+               while( 
+                       colourListVertex0.findLinearSearch(colour) != colourListVertex0.size() || 
+                       colourListVertex1.findLinearSearch(colour) != colourListVertex1.size() ||
+                       colourListVertex2.findLinearSearch(colour) != colourListVertex2.size() )
+               {
+                       ++colour;
+               }
+               // i should now be the minimum colour in neither list
+               // Add to the three lists so that future edges don't share
+               // And store the colour against this face
+               colourListVertex0.push_back(colour);
+               colourListVertex1.push_back(colour);
+               colourListVertex2.push_back(colour);
+
+               batchValues[triangleIndex] = colour;
+       }
+
+
+       // Check the colour counts
+       btAlignedObjectArray< int > batchCounts;
+       for( int i = 0; i < numTriangles; ++i )
+       {
+               int batch = batchValues[i];
+               if( batch >= batchCounts.size() )
+                       batchCounts.push_back(1);
+               else
+                       ++(batchCounts[batch]);
+       }
+
+
+       m_batchStartLengths.resize(batchCounts.size());
+       m_batchStartLengths[0] = btSomePair(0,0);
+
+
+       int sum = 0;
+       for( int batchIndex = 0; batchIndex < batchCounts.size(); ++batchIndex )
+       {
+               m_batchStartLengths[batchIndex].first = sum;
+               m_batchStartLengths[batchIndex].second = batchCounts[batchIndex];
+               sum += batchCounts[batchIndex];
+       }
+       
+       /////////////////////////////
+       // Sort data based on batches
+       
+       // Create source arrays by copying originals
+       btAlignedObjectArray<btSoftBodyTriangleData::TriangleNodeSet>                                                   m_vertexIndices_Backup(m_vertexIndices);
+       btAlignedObjectArray<float>                                                                             m_area_Backup(m_area);
+       btAlignedObjectArray<Vectormath::Aos::Vector3>                                  m_normal_Backup(m_normal);
+
+
+       for( int batch = 0; batch < batchCounts.size(); ++batch )
+               batchCounts[batch] = 0;
+
+       // Do sort as single pass into destination arrays       
+       for( int triangleIndex = 0; triangleIndex < numTriangles; ++triangleIndex )
+       {
+               // To maintain locations run off the original link locations rather than the current position.
+               // It's not cache efficient, but as we run this rarely that should not matter.
+               // It's faster than searching the link location array for the current location and then updating it.
+               // The other alternative would be to unsort before resorting, but this is equivalent to doing that.
+               int triangleLocation = m_triangleAddresses[triangleIndex];
+
+               // Obtain batch and calculate target location for the
+               // next element in that batch, incrementing the batch counter
+               // afterwards
+               int batch = batchValues[triangleIndex];
+               int newLocation = m_batchStartLengths[batch].first + batchCounts[batch];
+
+               batchCounts[batch] = batchCounts[batch] + 1;
+               m_vertexIndices[newLocation] = m_vertexIndices_Backup[triangleLocation];
+               m_area[newLocation] = m_area_Backup[triangleLocation];
+               m_normal[newLocation] = m_normal_Backup[triangleLocation];
+
+               // Update the locations array to account for the moved entry
+               m_triangleAddresses[triangleIndex] = newLocation;
+       }
+} // btSoftBodyTriangleDataOpenCL::generateBatches
+
+
+
+
+
+
+
+btOpenCLSoftBodySolver::btOpenCLSoftBodySolver(cl_command_queue queue, cl_context ctx, bool bUpdateAchchoredNodePos) :
+       m_linkData(queue, ctx),
+       m_vertexData(queue, ctx),
+       m_triangleData(queue, ctx),
+       m_defaultCLFunctions(queue, ctx),
+       m_currentCLFunctions(&m_defaultCLFunctions),
+       m_clPerClothAcceleration(queue, ctx, &m_perClothAcceleration, true ),
+       m_clPerClothWindVelocity(queue, ctx, &m_perClothWindVelocity, true ),
+       m_clPerClothDampingFactor(queue,ctx, &m_perClothDampingFactor, true ),
+       m_clPerClothVelocityCorrectionCoefficient(queue, ctx,&m_perClothVelocityCorrectionCoefficient, true ),
+       m_clPerClothLiftFactor(queue, ctx,&m_perClothLiftFactor, true ),
+       m_clPerClothDragFactor(queue, ctx,&m_perClothDragFactor, true ),
+       m_clPerClothMediumDensity(queue, ctx,&m_perClothMediumDensity, true ),
+       m_clPerClothCollisionObjects( queue, ctx, &m_perClothCollisionObjects, true ),
+       m_clCollisionObjectDetails( queue, ctx, &m_collisionObjectDetails, true ),
+       m_clPerClothFriction( queue, ctx, &m_perClothFriction, false ),
+       m_clAnchorPosition( queue, ctx, &m_anchorPosition, true ),
+       m_clAnchorIndex( queue, ctx, &m_anchorIndex, true),
+       m_cqCommandQue( queue ),
+       m_cxMainContext(ctx),
+       m_defaultWorkGroupSize(BT_DEFAULT_WORKGROUPSIZE),
+       m_bUpdateAnchoredNodePos(bUpdateAchchoredNodePos)
+{
+
+       // Initial we will clearly need to update solver constants
+       // For now this is global for the cloths linked with this solver - we should probably make this body specific 
+       // for performance in future once we understand more clearly when constants need to be updated
+       m_updateSolverConstants = true;
+
+       m_shadersInitialized = false;
+
+       m_prepareLinksKernel = 0;
+       m_solvePositionsFromLinksKernel = 0;
+       m_updateConstantsKernel = 0;
+       m_integrateKernel = 0;
+       m_addVelocityKernel = 0;
+       m_updatePositionsFromVelocitiesKernel = 0;
+       m_updateVelocitiesFromPositionsWithoutVelocitiesKernel = 0;
+       m_updateVelocitiesFromPositionsWithVelocitiesKernel = 0;
+       m_vSolveLinksKernel = 0;
+       m_solveCollisionsAndUpdateVelocitiesKernel = 0;
+       m_resetNormalsAndAreasKernel = 0;
+       m_updateSoftBodiesKernel = 0;
+       m_normalizeNormalsAndAreasKernel = 0;
+       m_outputToVertexArrayKernel = 0;
+       m_applyForcesKernel = 0;
+       m_updateFixedVertexPositionsKernel = 0;
+}
+
+btOpenCLSoftBodySolver::~btOpenCLSoftBodySolver()
+{
+       releaseKernels();
+}
+
+void btOpenCLSoftBodySolver::releaseKernels()
+{
+       RELEASE_CL_KERNEL( m_prepareLinksKernel );
+       RELEASE_CL_KERNEL( m_solvePositionsFromLinksKernel );
+       RELEASE_CL_KERNEL( m_updateConstantsKernel );
+       RELEASE_CL_KERNEL( m_integrateKernel );
+       RELEASE_CL_KERNEL( m_addVelocityKernel );
+       RELEASE_CL_KERNEL( m_updatePositionsFromVelocitiesKernel );
+       RELEASE_CL_KERNEL( m_updateVelocitiesFromPositionsWithoutVelocitiesKernel );
+       RELEASE_CL_KERNEL( m_updateVelocitiesFromPositionsWithVelocitiesKernel );
+       RELEASE_CL_KERNEL( m_vSolveLinksKernel );
+       RELEASE_CL_KERNEL( m_solveCollisionsAndUpdateVelocitiesKernel );
+       RELEASE_CL_KERNEL( m_resetNormalsAndAreasKernel );
+       RELEASE_CL_KERNEL( m_normalizeNormalsAndAreasKernel );
+       RELEASE_CL_KERNEL( m_outputToVertexArrayKernel );
+       RELEASE_CL_KERNEL( m_applyForcesKernel );
+       RELEASE_CL_KERNEL( m_updateFixedVertexPositionsKernel );
+
+       m_shadersInitialized = false;
+}
+
+void btOpenCLSoftBodySolver::copyBackToSoftBodies(bool bMove)
+{
+
+       // Move the vertex data back to the host first
+       m_vertexData.moveFromAccelerator(!bMove);
+
+       // Loop over soft bodies, copying all the vertex positions back for each body in turn
+       for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex )
+       {
+               btOpenCLAcceleratedSoftBodyInterface *softBodyInterface = m_softBodySet[ softBodyIndex ];
+               btSoftBody *softBody = softBodyInterface->getSoftBody();
+
+               int firstVertex = softBodyInterface->getFirstVertex();
+               int numVertices = softBodyInterface->getNumVertices();
+
+               // Copy vertices from solver back into the softbody
+               for( int vertex = 0; vertex < numVertices; ++vertex )
+               {
+                       using Vectormath::Aos::Point3;
+                       Point3 vertexPosition( m_vertexData.getVertexPositions()[firstVertex + vertex] );
+                       Point3 normal(m_vertexData.getNormal(firstVertex + vertex));
+
+                       softBody->m_nodes[vertex].m_x.setX( vertexPosition.getX() );
+                       softBody->m_nodes[vertex].m_x.setY( vertexPosition.getY() );
+                       softBody->m_nodes[vertex].m_x.setZ( vertexPosition.getZ() );
+
+                       softBody->m_nodes[vertex].m_n.setX( normal.getX() );
+                       softBody->m_nodes[vertex].m_n.setY( normal.getY() );
+                       softBody->m_nodes[vertex].m_n.setZ( normal.getZ() );
+               }
+       }       
+} // btOpenCLSoftBodySolver::copyBackToSoftBodies
+
+void btOpenCLSoftBodySolver::optimize( btAlignedObjectArray< btSoftBody * > &softBodies, bool forceUpdate )
+{
+       if( forceUpdate || m_softBodySet.size() != softBodies.size() )
+       {
+               // Have a change in the soft body set so update, reloading all the data
+               getVertexData().clear();
+               getTriangleData().clear();
+               getLinkData().clear();
+               m_softBodySet.resize(0);
+               m_anchorIndex.clear();
+
+               int maxPiterations = 0;
+               int maxViterations = 0;
+
+               for( int softBodyIndex = 0; softBodyIndex < softBodies.size(); ++softBodyIndex )
+               {
+                       btSoftBody *softBody = softBodies[ softBodyIndex ];
+                       using Vectormath::Aos::Matrix3;
+                       using Vectormath::Aos::Point3;
+
+                       // Create SoftBody that will store the information within the solver
+                       btOpenCLAcceleratedSoftBodyInterface *newSoftBody = new btOpenCLAcceleratedSoftBodyInterface( softBody );
+                       m_softBodySet.push_back( newSoftBody );
+
+                       m_perClothAcceleration.push_back( toVector3(softBody->getWorldInfo()->m_gravity) );
+                       m_perClothDampingFactor.push_back(softBody->m_cfg.kDP);
+                       m_perClothVelocityCorrectionCoefficient.push_back( softBody->m_cfg.kVCF );
+                       m_perClothLiftFactor.push_back( softBody->m_cfg.kLF );
+                       m_perClothDragFactor.push_back( softBody->m_cfg.kDG );
+                       m_perClothMediumDensity.push_back(softBody->getWorldInfo()->air_density);
+                       // Simple init values. Actually we'll put 0 and -1 into them at the appropriate time
+                       m_perClothFriction.push_back(softBody->m_cfg.kDF);
+                       m_perClothCollisionObjects.push_back( CollisionObjectIndices(-1, -1) );
+
+                       // Add space for new vertices and triangles in the default solver for now
+                       // TODO: Include space here for tearing too later
+                       int firstVertex = getVertexData().getNumVertices();
+                       int numVertices = softBody->m_nodes.size();
+                       int maxVertices = numVertices;
+                       // Allocate space for new vertices in all the vertex arrays
+                       getVertexData().createVertices( maxVertices, softBodyIndex );
+
+                       int firstTriangle = getTriangleData().getNumTriangles();
+                       int numTriangles = softBody->m_faces.size();
+                       int maxTriangles = numTriangles;
+                       getTriangleData().createTriangles( maxTriangles );
+
+                       // Copy vertices from softbody into the solver
+                       for( int vertex = 0; vertex < numVertices; ++vertex )
+                       {
+                               Point3 multPoint(softBody->m_nodes[vertex].m_x.getX(), softBody->m_nodes[vertex].m_x.getY(), softBody->m_nodes[vertex].m_x.getZ());
+                               btSoftBodyVertexData::VertexDescription desc;
+
+                               // TODO: Position in the softbody might be pre-transformed
+                               // or we may need to adapt for the pose.
+                               //desc.setPosition( cloth.getMeshTransform()*multPoint );
+                               desc.setPosition( multPoint );
+
+                               float vertexInverseMass = softBody->m_nodes[vertex].m_im;
+                               desc.setInverseMass(vertexInverseMass);
+                               getVertexData().setVertexAt( desc, firstVertex + vertex );
+
+                               m_anchorIndex.push_back(-1);
+                       }
+
+                       // Copy triangles similarly
+                       // We're assuming here that vertex indices are based on the firstVertex rather than the entire scene
+                       for( int triangle = 0; triangle < numTriangles; ++triangle )
+                       {
+                               // Note that large array storage is relative to the array not to the cloth
+                               // So we need to add firstVertex to each value
+                               int vertexIndex0 = (softBody->m_faces[triangle].m_n[0] - &(softBody->m_nodes[0]));
+                               int vertexIndex1 = (softBody->m_faces[triangle].m_n[1] - &(softBody->m_nodes[0]));
+                               int vertexIndex2 = (softBody->m_faces[triangle].m_n[2] - &(softBody->m_nodes[0]));
+                               btSoftBodyTriangleData::TriangleDescription newTriangle(vertexIndex0 + firstVertex, vertexIndex1 + firstVertex, vertexIndex2 + firstVertex);
+                               getTriangleData().setTriangleAt( newTriangle, firstTriangle + triangle );
+                               
+                               // Increase vertex triangle counts for this triangle            
+                               getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex0)++;
+                               getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex1)++;
+                               getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex2)++;
+                       }
+
+                       int firstLink = getLinkData().getNumLinks();
+                       int numLinks = softBody->m_links.size();
+//                     int maxLinks = numLinks;
+                       
+                       // Allocate space for the links
+                       getLinkData().createLinks( numLinks );
+
+                       // Add the links
+                       for( int link = 0; link < numLinks; ++link )
+                       {
+                               int vertexIndex0 = softBody->m_links[link].m_n[0] - &(softBody->m_nodes[0]);
+                               int vertexIndex1 = softBody->m_links[link].m_n[1] - &(softBody->m_nodes[0]);
+
+                               btSoftBodyLinkData::LinkDescription newLink(vertexIndex0 + firstVertex, vertexIndex1 + firstVertex, softBody->m_links[link].m_material->m_kLST);
+                               newLink.setLinkStrength(1.f);
+                               getLinkData().setLinkAt(newLink, firstLink + link);
+                       }
+                       
+                       newSoftBody->setFirstVertex( firstVertex );
+                       newSoftBody->setFirstTriangle( firstTriangle );
+                       newSoftBody->setNumVertices( numVertices );
+                       newSoftBody->setMaxVertices( maxVertices );
+                       newSoftBody->setNumTriangles( numTriangles );
+                       newSoftBody->setMaxTriangles( maxTriangles );
+                       newSoftBody->setFirstLink( firstLink );
+                       newSoftBody->setNumLinks( numLinks );
+
+                       // Find maximum piterations and viterations
+                       int piterations = softBody->m_cfg.piterations;
+
+            if ( piterations > maxPiterations )
+                  maxPiterations = piterations;
+
+            int viterations = softBody->m_cfg.viterations;
+
+                       if ( viterations > maxViterations )
+                  maxViterations = viterations;
+
+                       // zero mass
+                       for( int vertex = 0; vertex < numVertices; ++vertex )
+                       {
+                               if ( softBody->m_nodes[vertex].m_im == 0 )
+                               {
+                                       AnchorNodeInfoCL nodeInfo;
+                                       nodeInfo.clVertexIndex = firstVertex + vertex;
+                                       nodeInfo.pNode = &softBody->m_nodes[vertex];
+
+                                       m_anchorNodeInfoArray.push_back(nodeInfo);
+                               }
+                       }                       
+
+                       // anchor position
+                       if ( numVertices > 0 )
+                       {
+                               for ( int anchorIndex = 0; anchorIndex < softBody->m_anchors.size(); anchorIndex++ )
+                               {
+                                       btSoftBody::Node* anchorNode = softBody->m_anchors[anchorIndex].m_node;
+                                       btSoftBody::Node* firstNode = &softBody->m_nodes[0];
+
+                                       AnchorNodeInfoCL nodeInfo;
+                                       nodeInfo.clVertexIndex = firstVertex + (int)(anchorNode - firstNode);
+                                       nodeInfo.pNode = anchorNode;
+
+                                       m_anchorNodeInfoArray.push_back(nodeInfo);
+                               }
+                       }                       
+               }
+
+               
+               m_anchorPosition.clear();               
+               m_anchorPosition.resize(m_anchorNodeInfoArray.size());
+
+               for ( int anchorNode = 0; anchorNode < m_anchorNodeInfoArray.size(); anchorNode++ )
+               {
+                       const AnchorNodeInfoCL& anchorNodeInfo = m_anchorNodeInfoArray[anchorNode];
+                       m_anchorIndex[anchorNodeInfo.clVertexIndex] = anchorNode;
+                       getVertexData().getInverseMass(anchorNodeInfo.clVertexIndex) = 0.0f;
+               }
+               
+               updateConstants(0.f);
+
+               // set position and velocity iterations
+               setNumberOfPositionIterations(maxPiterations);
+               setNumberOfVelocityIterations(maxViterations);
+
+               // set wind velocity
+               m_perClothWindVelocity.resize( m_softBodySet.size() );
+               for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex )
+               {
+                       btSoftBody *softBody = m_softBodySet[softBodyIndex]->getSoftBody();                     
+                       m_perClothWindVelocity[softBodyIndex] = toVector3(softBody->getWindVelocity());
+               }
+
+               m_clPerClothWindVelocity.changedOnCPU();
+
+               // generate batches
+               m_linkData.generateBatches();           
+               m_triangleData.generateBatches();
+
+               // Build the shaders to match the batching parameters
+               buildShaders();
+       }
+}
+
+
+btSoftBodyLinkData &btOpenCLSoftBodySolver::getLinkData()
+{
+       // TODO: Consider setting link data to "changed" here
+       return m_linkData;
+}
+
+btSoftBodyVertexData &btOpenCLSoftBodySolver::getVertexData()
+{
+       // TODO: Consider setting vertex data to "changed" here
+       return m_vertexData;
+}
+
+btSoftBodyTriangleData &btOpenCLSoftBodySolver::getTriangleData()
+{
+       // TODO: Consider setting triangle data to "changed" here
+       return m_triangleData;
+}
+
+void btOpenCLSoftBodySolver::resetNormalsAndAreas( int numVertices )
+{
+       cl_int ciErrNum;
+       ciErrNum = clSetKernelArg(m_resetNormalsAndAreasKernel, 0, sizeof(numVertices), (void*)&numVertices); //oclCHECKERROR(ciErrNum, CL_SUCCESS);
+       ciErrNum = clSetKernelArg(m_resetNormalsAndAreasKernel, 1, sizeof(cl_mem), (void*)&m_vertexData.m_clVertexNormal.m_buffer);//oclCHECKERROR(ciErrNum, CL_SUCCESS);
+       ciErrNum = clSetKernelArg(m_resetNormalsAndAreasKernel,  2, sizeof(cl_mem), (void*)&m_vertexData.m_clVertexArea.m_buffer); //oclCHECKERROR(ciErrNum, CL_SUCCESS);
+       size_t numWorkItems = m_defaultWorkGroupSize*((numVertices + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
+
+       if (numWorkItems)
+       {
+               ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue, m_resetNormalsAndAreasKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize, 0,0,0 );
+
+               if( ciErrNum != CL_SUCCESS )
+               {
+                       btAssert( 0 && "enqueueNDRangeKernel(m_resetNormalsAndAreasKernel)" );
+               }
+       }
+
+}
+
+void btOpenCLSoftBodySolver::normalizeNormalsAndAreas( int numVertices )
+{
+       cl_int ciErrNum;
+
+       ciErrNum = clSetKernelArg(m_normalizeNormalsAndAreasKernel, 0, sizeof(int),(void*) &numVertices);
+       ciErrNum = clSetKernelArg(m_normalizeNormalsAndAreasKernel, 1, sizeof(cl_mem), &m_vertexData.m_clVertexTriangleCount.m_buffer);
+       ciErrNum = clSetKernelArg(m_normalizeNormalsAndAreasKernel, 2, sizeof(cl_mem), &m_vertexData.m_clVertexNormal.m_buffer);
+       ciErrNum = clSetKernelArg(m_normalizeNormalsAndAreasKernel, 3, sizeof(cl_mem), &m_vertexData.m_clVertexArea.m_buffer);
+       size_t  numWorkItems = m_defaultWorkGroupSize*((numVertices + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
+       if (numWorkItems)
+       {
+               ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue, m_normalizeNormalsAndAreasKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize, 0,0,0);
+               if( ciErrNum != CL_SUCCESS ) 
+               {
+                       btAssert( 0 && "enqueueNDRangeKernel(m_normalizeNormalsAndAreasKernel)");
+               }
+       }
+
+}
+
+void btOpenCLSoftBodySolver::executeUpdateSoftBodies( int firstTriangle, int numTriangles )
+{
+       cl_int ciErrNum;
+       ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 0, sizeof(int), (void*) &firstTriangle);
+       ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 1, sizeof(int), &numTriangles);
+       ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 2, sizeof(cl_mem), &m_triangleData.m_clVertexIndices.m_buffer);
+       ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 3, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer);
+       ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 4, sizeof(cl_mem), &m_vertexData.m_clVertexNormal.m_buffer);
+       ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 5, sizeof(cl_mem), &m_vertexData.m_clVertexArea.m_buffer);
+       ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 6, sizeof(cl_mem), &m_triangleData.m_clNormal.m_buffer);
+       ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 7, sizeof(cl_mem), &m_triangleData.m_clArea.m_buffer);
+
+       size_t numWorkItems = m_defaultWorkGroupSize*((numTriangles + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
+       ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue, m_updateSoftBodiesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0);
+       if( ciErrNum != CL_SUCCESS ) 
+       {
+               btAssert( 0 &&  "enqueueNDRangeKernel(m_normalizeNormalsAndAreasKernel)");
+       }
+
+}
+
+void btOpenCLSoftBodySolver::updateSoftBodies()
+{
+       using namespace Vectormath::Aos;
+
+
+       int numVertices = m_vertexData.getNumVertices();
+//     int numTriangles = m_triangleData.getNumTriangles();
+
+       // Ensure data is on accelerator
+       m_vertexData.moveToAccelerator();
+       m_triangleData.moveToAccelerator();
+
+       resetNormalsAndAreas( numVertices );
+
+
+       // Go through triangle batches so updates occur correctly
+       for( int batchIndex = 0; batchIndex < m_triangleData.m_batchStartLengths.size(); ++batchIndex )
+       {
+
+               int startTriangle = m_triangleData.m_batchStartLengths[batchIndex].first;
+               int numTriangles = m_triangleData.m_batchStartLengths[batchIndex].second;
+
+               executeUpdateSoftBodies( startTriangle, numTriangles );
+       }
+
+
+       normalizeNormalsAndAreas( numVertices );
+} // updateSoftBodies
+
+
+Vectormath::Aos::Vector3 btOpenCLSoftBodySolver::ProjectOnAxis( const Vectormath::Aos::Vector3 &v, const Vectormath::Aos::Vector3 &a )
+{
+       return a*Vectormath::Aos::dot(v, a);
+}
+
+void btOpenCLSoftBodySolver::ApplyClampedForce( float solverdt, const Vectormath::Aos::Vector3 &force, const Vectormath::Aos::Vector3 &vertexVelocity, float inverseMass, Vectormath::Aos::Vector3 &vertexForce )
+{
+       float dtInverseMass = solverdt*inverseMass;
+       if( Vectormath::Aos::lengthSqr(force * dtInverseMass) > Vectormath::Aos::lengthSqr(vertexVelocity) )
+       {
+               vertexForce -= ProjectOnAxis( vertexVelocity, normalize( force ) )/dtInverseMass;
+       } else {
+               vertexForce += force;
+       }
+}
+
+void btOpenCLSoftBodySolver::updateFixedVertexPositions()
+{      
+       // Ensure data is on accelerator
+       m_vertexData.moveToAccelerator();
+       m_clAnchorPosition.moveToGPU();
+       m_clAnchorIndex.moveToGPU();
+
+       cl_int ciErrNum ;
+       int numVerts = m_vertexData.getNumVertices();
+       ciErrNum = clSetKernelArg(m_updateFixedVertexPositionsKernel, 0, sizeof(int), &numVerts);
+       ciErrNum = clSetKernelArg(m_updateFixedVertexPositionsKernel,1, sizeof(cl_mem), &m_clAnchorIndex.m_buffer);
+       ciErrNum = clSetKernelArg(m_updateFixedVertexPositionsKernel,2, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer);
+       ciErrNum = clSetKernelArg(m_updateFixedVertexPositionsKernel,3, sizeof(cl_mem), &m_clAnchorPosition.m_buffer);
+
+       size_t numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
+       if (numWorkItems)
+       {
+               ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_updateFixedVertexPositionsKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize, 0,0,0);
+               if( ciErrNum != CL_SUCCESS ) 
+               {
+                       btAssert( 0 &&  "enqueueNDRangeKernel(m_updateFixedVertexPositionsKernel)");
+               }
+       }
+
+}
+
+void btOpenCLSoftBodySolver::applyForces( float solverdt )
+{      
+       // Ensure data is on accelerator
+       m_vertexData.moveToAccelerator();
+       m_clPerClothAcceleration.moveToGPU();
+       m_clPerClothLiftFactor.moveToGPU();
+       m_clPerClothDragFactor.moveToGPU();
+       m_clPerClothMediumDensity.moveToGPU();
+       m_clPerClothWindVelocity.moveToGPU();   
+
+       cl_int ciErrNum ;
+       int numVerts = m_vertexData.getNumVertices();
+       ciErrNum = clSetKernelArg(m_applyForcesKernel, 0, sizeof(int), &numVerts);
+       ciErrNum = clSetKernelArg(m_applyForcesKernel, 1, sizeof(float), &solverdt);
+       float fl = FLT_EPSILON;
+       ciErrNum = clSetKernelArg(m_applyForcesKernel, 2, sizeof(float), &fl);
+       ciErrNum = clSetKernelArg(m_applyForcesKernel, 3, sizeof(cl_mem), &m_vertexData.m_clClothIdentifier.m_buffer);
+       ciErrNum = clSetKernelArg(m_applyForcesKernel, 4, sizeof(cl_mem), &m_vertexData.m_clVertexNormal.m_buffer);
+       ciErrNum = clSetKernelArg(m_applyForcesKernel, 5, sizeof(cl_mem), &m_vertexData.m_clVertexArea.m_buffer);
+       ciErrNum = clSetKernelArg(m_applyForcesKernel, 6, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer);
+       ciErrNum = clSetKernelArg(m_applyForcesKernel, 7, sizeof(cl_mem), &m_clPerClothLiftFactor.m_buffer);
+       ciErrNum = clSetKernelArg(m_applyForcesKernel, 8 ,sizeof(cl_mem), &m_clPerClothDragFactor.m_buffer);
+       ciErrNum = clSetKernelArg(m_applyForcesKernel, 9, sizeof(cl_mem), &m_clPerClothWindVelocity.m_buffer);
+       ciErrNum = clSetKernelArg(m_applyForcesKernel,10, sizeof(cl_mem), &m_clPerClothAcceleration.m_buffer);
+       ciErrNum = clSetKernelArg(m_applyForcesKernel,11, sizeof(cl_mem), &m_clPerClothMediumDensity.m_buffer);
+       ciErrNum = clSetKernelArg(m_applyForcesKernel,12, sizeof(cl_mem), &m_vertexData.m_clVertexForceAccumulator.m_buffer);
+       ciErrNum = clSetKernelArg(m_applyForcesKernel,13, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer);
+
+       size_t numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
+       if (numWorkItems)
+       {
+               ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_applyForcesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize, 0,0,0);
+               if( ciErrNum != CL_SUCCESS ) 
+               {
+                       btAssert( 0 &&  "enqueueNDRangeKernel(m_applyForcesKernel)");
+               }
+       }
+
+}
+
+/**
+ * Integrate motion on the solver.
+ */
+void btOpenCLSoftBodySolver::integrate( float solverdt )
+{
+       // Ensure data is on accelerator
+       m_vertexData.moveToAccelerator();
+
+       cl_int ciErrNum;
+       int numVerts = m_vertexData.getNumVertices();
+       ciErrNum = clSetKernelArg(m_integrateKernel, 0, sizeof(int), &numVerts);
+       ciErrNum = clSetKernelArg(m_integrateKernel, 1, sizeof(float), &solverdt);
+       ciErrNum = clSetKernelArg(m_integrateKernel, 2, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer);
+       ciErrNum = clSetKernelArg(m_integrateKernel, 3, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer);
+       ciErrNum = clSetKernelArg(m_integrateKernel, 4, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer);
+       ciErrNum = clSetKernelArg(m_integrateKernel, 5, sizeof(cl_mem), &m_vertexData.m_clVertexPreviousPosition.m_buffer);
+       ciErrNum = clSetKernelArg(m_integrateKernel, 6, sizeof(cl_mem), &m_vertexData.m_clVertexForceAccumulator.m_buffer);
+
+       size_t numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
+       if (numWorkItems)
+       {
+               ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_integrateKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0);
+               if( ciErrNum != CL_SUCCESS )
+               {
+                       btAssert( 0 &&  "enqueueNDRangeKernel(m_integrateKernel)");
+               }
+       }
+
+}
+
+float btOpenCLSoftBodySolver::computeTriangleArea( 
+       const Vectormath::Aos::Point3 &vertex0,
+       const Vectormath::Aos::Point3 &vertex1,
+       const Vectormath::Aos::Point3 &vertex2 )
+{
+       Vectormath::Aos::Vector3 a = vertex1 - vertex0;
+       Vectormath::Aos::Vector3 b = vertex2 - vertex0;
+       Vectormath::Aos::Vector3 crossProduct = cross(a, b);
+       float area = length( crossProduct );
+       return area;
+}
+
+
+void btOpenCLSoftBodySolver::updateBounds()
+{      
+       for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex )
+       {
+               btVector3 minBound(-1e30,-1e30,-1e30), maxBound(1e30,1e30,1e30);
+               m_softBodySet[softBodyIndex]->updateBounds( minBound, maxBound );
+       }
+
+} // btOpenCLSoftBodySolver::updateBounds
+
+
+void btOpenCLSoftBodySolver::updateConstants( float timeStep )
+{                      
+
+       using namespace Vectormath::Aos;
+
+       if( m_updateSolverConstants )
+       {
+               m_updateSolverConstants = false;
+
+               // Will have to redo this if we change the structure (tear, maybe) or various other possible changes
+
+               // Initialise link constants
+               const int numLinks = m_linkData.getNumLinks();
+               for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex )
+               {
+                       btSoftBodyLinkData::LinkNodePair &vertices( m_linkData.getVertexPair(linkIndex) );
+                       m_linkData.getRestLength(linkIndex) = length((m_vertexData.getPosition( vertices.vertex0 ) - m_vertexData.getPosition( vertices.vertex1 )));
+                       float invMass0 = m_vertexData.getInverseMass(vertices.vertex0);
+                       float invMass1 = m_vertexData.getInverseMass(vertices.vertex1);
+                       float linearStiffness = m_linkData.getLinearStiffnessCoefficient(linkIndex);
+                       float massLSC = (invMass0 + invMass1)/linearStiffness;
+                       m_linkData.getMassLSC(linkIndex) = massLSC;
+                       float restLength = m_linkData.getRestLength(linkIndex);
+                       float restLengthSquared = restLength*restLength;
+                       m_linkData.getRestLengthSquared(linkIndex) = restLengthSquared;
+               }
+       }
+
+}
+
+class QuickSortCompare
+{
+       public:
+
+       bool operator() ( const CollisionShapeDescription& a, const CollisionShapeDescription& b ) const
+       {
+               return ( a.softBodyIdentifier < b.softBodyIdentifier );
+       }
+};
+
+
+/**
+ * Sort the collision object details array and generate indexing into it for the per-cloth collision object array.
+ */
+void btOpenCLSoftBodySolver::prepareCollisionConstraints()
+{
+       // First do a simple sort on the collision objects
+       btAlignedObjectArray<int> numObjectsPerClothPrefixSum;
+       btAlignedObjectArray<int> numObjectsPerCloth;
+       numObjectsPerCloth.resize( m_softBodySet.size(), 0 );
+       numObjectsPerClothPrefixSum.resize( m_softBodySet.size(), 0 );
+
+
+       
+       m_collisionObjectDetails.quickSort( QuickSortCompare() );
+
+       if (!m_perClothCollisionObjects.size())
+               return;
+
+       // Generating indexing for perClothCollisionObjects
+       // First clear the previous values with the "no collision object for cloth" constant
+       for( int clothIndex = 0; clothIndex < m_perClothCollisionObjects.size(); ++clothIndex )
+       {
+               m_perClothCollisionObjects[clothIndex].firstObject = -1;
+               m_perClothCollisionObjects[clothIndex].endObject = -1;
+       }
+       int currentCloth = 0;
+       int startIndex = 0;
+       for( int collisionObject = 0; collisionObject < m_collisionObjectDetails.size(); ++collisionObject )
+       {
+               int nextCloth = m_collisionObjectDetails[collisionObject].softBodyIdentifier;
+               if( nextCloth != currentCloth )
+               {       
+                       // Changed cloth in the array
+                       // Set the end index and the range is what we need for currentCloth
+                       m_perClothCollisionObjects[currentCloth].firstObject = startIndex;
+                       m_perClothCollisionObjects[currentCloth].endObject = collisionObject;
+                       currentCloth = nextCloth;
+                       startIndex = collisionObject;
+               }
+       }
+
+       // And update last cloth        
+       m_perClothCollisionObjects[currentCloth].firstObject = startIndex;
+       m_perClothCollisionObjects[currentCloth].endObject =  m_collisionObjectDetails.size();
+       
+} // btOpenCLSoftBodySolver::prepareCollisionConstraints
+
+
+
+void btOpenCLSoftBodySolver::solveConstraints( float solverdt )
+{
+
+       using Vectormath::Aos::Vector3;
+       using Vectormath::Aos::Point3;
+       using Vectormath::Aos::lengthSqr;
+       using Vectormath::Aos::dot;
+
+       // Prepare links
+//     int numLinks = m_linkData.getNumLinks();
+//     int numVertices = m_vertexData.getNumVertices();
+
+       float kst = 1.f;
+       float ti = 0.f;
+
+
+       m_clPerClothDampingFactor.moveToGPU();
+       m_clPerClothVelocityCorrectionCoefficient.moveToGPU();
+
+
+       // Ensure data is on accelerator
+       m_linkData.moveToAccelerator();
+       m_vertexData.moveToAccelerator();
+
+       prepareLinks(); 
+
+
+
+       for( int iteration = 0; iteration < m_numberOfVelocityIterations ; ++iteration )
+       {
+               for( int i = 0; i < m_linkData.m_batchStartLengths.size(); ++i )
+               {
+                       int startLink = m_linkData.m_batchStartLengths[i].start;
+                       int numLinks = m_linkData.m_batchStartLengths[i].length;
+
+                       solveLinksForVelocity( startLink, numLinks, kst );
+               }
+       }
+
+       
+       prepareCollisionConstraints();
+
+       // Compute new positions from velocity
+       // Also update the previous position so that our position computation is now based on the new position from the velocity solution
+       // rather than based directly on the original positions
+       if( m_numberOfVelocityIterations > 0 )
+       {
+               updateVelocitiesFromPositionsWithVelocities( 1.f/solverdt );
+       } else {
+               updateVelocitiesFromPositionsWithoutVelocities( 1.f/solverdt );
+       }
+
+       // Solve position
+       for( int iteration = 0; iteration < m_numberOfPositionIterations ; ++iteration )
+       {
+               for( int i = 0; i < m_linkData.m_batchStartLengths.size(); ++i )
+               {
+                       int startLink = m_linkData.m_batchStartLengths[i].start;
+                       int numLinks = m_linkData.m_batchStartLengths[i].length;
+
+                       solveLinksForPosition( startLink, numLinks, kst, ti );
+               }
+               
+       } // for( int iteration = 0; iteration < m_numberOfPositionIterations ; ++iteration )
+
+       
+       // At this point assume that the force array is blank - we will overwrite it
+       solveCollisionsAndUpdateVelocities( 1.f/solverdt );
+
+}
+
+
+//////////////////////////////////////
+// Kernel dispatches
+void btOpenCLSoftBodySolver::prepareLinks()
+{
+       cl_int ciErrNum;
+       int numLinks = m_linkData.getNumLinks();
+       ciErrNum = clSetKernelArg(m_prepareLinksKernel,0, sizeof(int), &numLinks);
+       ciErrNum = clSetKernelArg(m_prepareLinksKernel,1, sizeof(cl_mem), &m_linkData.m_clLinks.m_buffer);
+       ciErrNum = clSetKernelArg(m_prepareLinksKernel,2, sizeof(cl_mem), &m_linkData.m_clLinksMassLSC.m_buffer);
+       ciErrNum = clSetKernelArg(m_prepareLinksKernel,3, sizeof(cl_mem), &m_vertexData.m_clVertexPreviousPosition.m_buffer);
+       ciErrNum = clSetKernelArg(m_prepareLinksKernel,4, sizeof(cl_mem), &m_linkData.m_clLinksLengthRatio.m_buffer);
+       ciErrNum = clSetKernelArg(m_prepareLinksKernel,5, sizeof(cl_mem), &m_linkData.m_clLinksCLength.m_buffer);
+
+       size_t  numWorkItems = m_defaultWorkGroupSize*((m_linkData.getNumLinks() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
+       ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_prepareLinksKernel, 1 , NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0);
+       if( ciErrNum != CL_SUCCESS ) 
+       {
+               btAssert( 0 &&  "enqueueNDRangeKernel(m_prepareLinksKernel)");
+       }
+
+}
+
+void btOpenCLSoftBodySolver::updatePositionsFromVelocities( float solverdt )
+{
+       cl_int ciErrNum;
+       int numVerts = m_vertexData.getNumVertices();
+       ciErrNum = clSetKernelArg(m_updatePositionsFromVelocitiesKernel,0, sizeof(int), &numVerts);
+       ciErrNum = clSetKernelArg(m_updatePositionsFromVelocitiesKernel,1, sizeof(float), &solverdt);
+       ciErrNum = clSetKernelArg(m_updatePositionsFromVelocitiesKernel,2, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer);
+       ciErrNum = clSetKernelArg(m_updatePositionsFromVelocitiesKernel,3, sizeof(cl_mem), &m_vertexData.m_clVertexPreviousPosition.m_buffer);
+       ciErrNum = clSetKernelArg(m_updatePositionsFromVelocitiesKernel,4, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer);
+
+       size_t  numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
+       ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_updatePositionsFromVelocitiesKernel, 1, NULL, &numWorkItems,&m_defaultWorkGroupSize,0,0,0);
+       if( ciErrNum != CL_SUCCESS ) 
+       {
+               btAssert( 0 &&  "enqueueNDRangeKernel(m_updatePositionsFromVelocitiesKernel)");
+       }
+
+}
+
+void btOpenCLSoftBodySolver::solveLinksForPosition( int startLink, int numLinks, float kst, float ti )
+{
+       cl_int ciErrNum;
+       ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,0, sizeof(int), &startLink);
+       ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,1, sizeof(int), &numLinks);
+       ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,2, sizeof(float), &kst);
+       ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,3, sizeof(float), &ti);
+       ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,4, sizeof(cl_mem), &m_linkData.m_clLinks.m_buffer);
+       ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,5, sizeof(cl_mem), &m_linkData.m_clLinksMassLSC.m_buffer);
+       ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,6, sizeof(cl_mem), &m_linkData.m_clLinksRestLengthSquared.m_buffer);
+       ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,7, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer);
+       ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,8, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer);
+
+       size_t  numWorkItems = m_defaultWorkGroupSize*((numLinks + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
+       ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_solvePositionsFromLinksKernel,1,NULL,&numWorkItems,&m_defaultWorkGroupSize,0,0,0);
+       if( ciErrNum!= CL_SUCCESS ) 
+       {
+               btAssert( 0 &&  "enqueueNDRangeKernel(m_solvePositionsFromLinksKernel)");
+       }
+
+} // solveLinksForPosition
+
+
+void btOpenCLSoftBodySolver::solveLinksForVelocity( int startLink, int numLinks, float kst )
+{
+       cl_int ciErrNum;
+       ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 0, sizeof(int), &startLink);
+       ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 1, sizeof(int), &numLinks);
+       ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 2, sizeof(float), &kst);
+       ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 3, sizeof(cl_mem), &m_linkData.m_clLinks.m_buffer);
+       ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 4, sizeof(cl_mem), &m_linkData.m_clLinksLengthRatio.m_buffer);
+       ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 5, sizeof(cl_mem), &m_linkData.m_clLinksCLength.m_buffer);
+       ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 6, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer);
+       ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 7, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer);
+
+       size_t  numWorkItems = m_defaultWorkGroupSize*((numLinks + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
+       ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_vSolveLinksKernel,1,NULL,&numWorkItems, &m_defaultWorkGroupSize,0,0,0);
+       if( ciErrNum != CL_SUCCESS ) 
+       {
+               btAssert( 0 &&  "enqueueNDRangeKernel(m_vSolveLinksKernel)");
+       }
+
+}
+
+void btOpenCLSoftBodySolver::updateVelocitiesFromPositionsWithVelocities( float isolverdt )
+{
+       cl_int ciErrNum;
+       int numVerts = m_vertexData.getNumVertices();
+       ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel,0, sizeof(int), &numVerts);
+       ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 1, sizeof(float), &isolverdt);
+       ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 2, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer);
+       ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 3, sizeof(cl_mem), &m_vertexData.m_clVertexPreviousPosition.m_buffer);
+       ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 4, sizeof(cl_mem), &m_vertexData.m_clClothIdentifier.m_buffer);
+       ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 5, sizeof(cl_mem), &m_clPerClothVelocityCorrectionCoefficient.m_buffer);
+       ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 6, sizeof(cl_mem), &m_clPerClothDampingFactor.m_buffer);
+       ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 7, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer);
+       ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 8, sizeof(cl_mem), &m_vertexData.m_clVertexForceAccumulator.m_buffer);
+
+       size_t  numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
+       ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_updateVelocitiesFromPositionsWithVelocitiesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0);
+       if( ciErrNum != CL_SUCCESS ) 
+       {
+               btAssert( 0 &&  "enqueueNDRangeKernel(m_updateVelocitiesFromPositionsWithVelocitiesKernel)");
+       }
+
+
+} // updateVelocitiesFromPositionsWithVelocities
+
+void btOpenCLSoftBodySolver::updateVelocitiesFromPositionsWithoutVelocities( float isolverdt )
+{
+       cl_int ciErrNum;
+       int numVerts = m_vertexData.getNumVertices();
+       ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 0, sizeof(int), &numVerts);
+       ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 1, sizeof(float), &isolverdt);
+       ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 2, sizeof(cl_mem),&m_vertexData.m_clVertexPosition.m_buffer);
+       ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 3, sizeof(cl_mem),&m_vertexData.m_clVertexPreviousPosition.m_buffer);
+       ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 4, sizeof(cl_mem),&m_vertexData.m_clClothIdentifier.m_buffer);
+       ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 5, sizeof(cl_mem),&m_clPerClothDampingFactor.m_buffer);
+       ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 6, sizeof(cl_mem),&m_vertexData.m_clVertexVelocity.m_buffer);
+       ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 7, sizeof(cl_mem),&m_vertexData.m_clVertexForceAccumulator.m_buffer);
+
+       size_t  numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
+       ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0);
+       if( ciErrNum != CL_SUCCESS ) 
+       {
+               btAssert( 0 &&  "enqueueNDRangeKernel(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel)");
+       }
+
+} // updateVelocitiesFromPositionsWithoutVelocities
+
+
+
+void btOpenCLSoftBodySolver::solveCollisionsAndUpdateVelocities( float isolverdt )
+{
+       // Copy kernel parameters to GPU
+       m_vertexData.moveToAccelerator();
+       m_clPerClothFriction.moveToGPU();
+       m_clPerClothDampingFactor.moveToGPU();
+       m_clPerClothCollisionObjects.moveToGPU();
+       m_clCollisionObjectDetails.moveToGPU();
+
+       cl_int ciErrNum;
+       int numVerts = m_vertexData.getNumVertices();
+       ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 0, sizeof(int), &numVerts);
+       ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 1, sizeof(int), &isolverdt);
+       ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 2, sizeof(cl_mem),&m_vertexData.m_clClothIdentifier.m_buffer);
+       ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 3, sizeof(cl_mem),&m_vertexData.m_clVertexPreviousPosition.m_buffer);
+       ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 4, sizeof(cl_mem),&m_clPerClothFriction.m_buffer);
+       ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 5, sizeof(cl_mem),&m_clPerClothDampingFactor.m_buffer);
+       ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 6, sizeof(cl_mem),&m_clPerClothCollisionObjects.m_buffer);
+       ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 7, sizeof(cl_mem),&m_clCollisionObjectDetails.m_buffer);
+       ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 8, sizeof(cl_mem),&m_vertexData.m_clVertexForceAccumulator.m_buffer);
+       ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 9, sizeof(cl_mem),&m_vertexData.m_clVertexVelocity.m_buffer);
+       ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 10, sizeof(cl_mem),&m_vertexData.m_clVertexPosition.m_buffer);
+
+       size_t  numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
+       if (numWorkItems)
+       {
+               ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_solveCollisionsAndUpdateVelocitiesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0);
+               if( ciErrNum != CL_SUCCESS ) 
+               {
+                       btAssert( 0 &&  "enqueueNDRangeKernel(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel)");
+               }
+       }
+
+} // btOpenCLSoftBodySolver::updateVelocitiesFromPositionsWithoutVelocities
+
+
+
+// End kernel dispatches
+/////////////////////////////////////
+
+
+void btSoftBodySolverOutputCLtoCPU::copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer )
+{
+
+       btSoftBodySolver *solver = softBody->getSoftBodySolver();
+       btAssert( solver->getSolverType() == btSoftBodySolver::CL_SOLVER || solver->getSolverType() == btSoftBodySolver::CL_SIMD_SOLVER );
+       btOpenCLSoftBodySolver *dxSolver = static_cast< btOpenCLSoftBodySolver * >( solver );
+
+       btOpenCLAcceleratedSoftBodyInterface* currentCloth = dxSolver->findSoftBodyInterface( softBody );
+       btSoftBodyVertexDataOpenCL &vertexData( dxSolver->m_vertexData );
+       
+
+       const int firstVertex = currentCloth->getFirstVertex();
+       const int lastVertex = firstVertex + currentCloth->getNumVertices();
+
+       if( vertexBuffer->getBufferType() == btVertexBufferDescriptor::CPU_BUFFER )
+       {               
+               const btCPUVertexBufferDescriptor *cpuVertexBuffer = static_cast< btCPUVertexBufferDescriptor* >(vertexBuffer);                                         
+               float *basePointer = cpuVertexBuffer->getBasePointer();                                         
+
+               vertexData.m_clVertexPosition.copyFromGPU();
+               vertexData.m_clVertexNormal.copyFromGPU();
+
+               if( vertexBuffer->hasVertexPositions() )
+               {
+                       const int vertexOffset = cpuVertexBuffer->getVertexOffset();
+                       const int vertexStride = cpuVertexBuffer->getVertexStride();
+                       float *vertexPointer = basePointer + vertexOffset;
+
+                       for( int vertexIndex = firstVertex; vertexIndex < lastVertex; ++vertexIndex )
+                       {
+                               Vectormath::Aos::Point3 position = vertexData.getPosition(vertexIndex);
+                               *(vertexPointer + 0) = position.getX();
+                               *(vertexPointer + 1) = position.getY();
+                               *(vertexPointer + 2) = position.getZ();
+                               vertexPointer += vertexStride;
+                       }
+               }
+               if( vertexBuffer->hasNormals() )
+               {
+                       const int normalOffset = cpuVertexBuffer->getNormalOffset();
+                       const int normalStride = cpuVertexBuffer->getNormalStride();
+                       float *normalPointer = basePointer + normalOffset;
+
+                       for( int vertexIndex = firstVertex; vertexIndex < lastVertex; ++vertexIndex )
+                       {
+                               Vectormath::Aos::Vector3 normal = vertexData.getNormal(vertexIndex);
+                               *(normalPointer + 0) = normal.getX();
+                               *(normalPointer + 1) = normal.getY();
+                               *(normalPointer + 2) = normal.getZ();
+                               normalPointer += normalStride;
+                       }
+               }
+       }
+
+} // btSoftBodySolverOutputCLtoCPU::outputToVertexBuffers
+
+
+
+cl_kernel CLFunctions::compileCLKernelFromString( const char* kernelSource, const char* kernelName, const char* additionalMacros ,const char* orgSrcFileNameForCaching)
+{
+       printf("compiling kernelName: %s ",kernelName);
+       cl_kernel kernel=0;
+       cl_int ciErrNum;
+       size_t program_length = strlen(kernelSource);
+
+       cl_program m_cpProgram = clCreateProgramWithSource(m_cxMainContext, 1, (const char**)&kernelSource, &program_length, &ciErrNum);
+//     oclCHECKERROR(ciErrNum, CL_SUCCESS);
+               
+    // Build the program with 'mad' Optimization option
+
+       
+#ifdef MAC
+       char* flags = "-cl-mad-enable -DMAC -DGUID_ARG";
+#else
+       //const char* flags = "-DGUID_ARG= -fno-alias";
+       const char* flags = "-DGUID_ARG= ";
+#endif
+
+       char* compileFlags = new char[strlen(additionalMacros) + strlen(flags) + 5];
+       sprintf(compileFlags, "%s %s", flags, additionalMacros);
+    ciErrNum = clBuildProgram(m_cpProgram, 0, NULL, compileFlags, NULL, NULL);
+    if (ciErrNum != CL_SUCCESS)
+    {
+               size_t numDevices;
+               clGetProgramInfo( m_cpProgram, CL_PROGRAM_DEVICES, 0, 0, &numDevices );
+               cl_device_id *devices = new cl_device_id[numDevices];
+               clGetProgramInfo( m_cpProgram, CL_PROGRAM_DEVICES, numDevices, devices, &numDevices );
+        for( int i = 0; i < 2; ++i )
+               {
+                       char *build_log;
+                       size_t ret_val_size;
+                       clGetProgramBuildInfo(m_cpProgram, devices[i], CL_PROGRAM_BUILD_LOG, 0, NULL, &ret_val_size);
+                       build_log = new char[ret_val_size+1];
+                       clGetProgramBuildInfo(m_cpProgram, devices[i], CL_PROGRAM_BUILD_LOG, ret_val_size, build_log, NULL);
+    
+                       // to be carefully, terminate with \0
+                       // there's no information in the reference whether the string is 0 terminated or not
+                       build_log[ret_val_size] = '\0';
+        
+
+                       printf("Error in clBuildProgram, Line %u in file %s, Log: \n%s\n !!!\n\n", __LINE__, __FILE__, build_log);
+                       delete[] build_log;
+               }
+#ifndef BT_SUPPRESS_OPENCL_ASSERTS
+               btAssert(0);
+#endif //BT_SUPPRESS_OPENCL_ASSERTS
+               m_kernelCompilationFailures++;
+               return 0;
+    }
+       
+       
+    // Create the kernel
+    kernel = clCreateKernel(m_cpProgram, kernelName, &ciErrNum);
+    if (ciErrNum != CL_SUCCESS)
+    {
+               const char* msg = "";
+        switch(ciErrNum)
+        {
+        case CL_INVALID_PROGRAM:
+            msg = "Program is not a valid program object.";
+            break;
+        case CL_INVALID_PROGRAM_EXECUTABLE:
+            msg = "There is no successfully built executable for program.";
+            break;
+        case CL_INVALID_KERNEL_NAME:
+            msg = "kernel_name is not found in program.";
+            break;
+        case CL_INVALID_KERNEL_DEFINITION:
+            msg = "the function definition for __kernel function given by kernel_name such as the number of arguments, the argument types are not the same for all devices for which the program executable has been built.";
+            break;
+        case CL_INVALID_VALUE:
+            msg = "kernel_name is NULL.";
+            break;
+        case CL_OUT_OF_HOST_MEMORY:
+            msg = "Failure to allocate resources required by the OpenCL implementation on the host.";
+            break;
+               default:
+                       {
+                       }
+        }
+
+        printf("Error in clCreateKernel for kernel '%s', error is \"%s\", Line %u in file %s !!!\n\n", kernelName, msg, __LINE__, __FILE__);
+
+#ifndef BT_SUPPRESS_OPENCL_ASSERTS
+               btAssert(0);
+#endif //BT_SUPPRESS_OPENCL_ASSERTS
+               m_kernelCompilationFailures++;
+               return 0;
+    }
+
+       printf("ready. \n");
+       delete [] compileFlags;
+       if (!kernel)
+               m_kernelCompilationFailures++;
+       return kernel;
+
+}
+
+void btOpenCLSoftBodySolver::predictMotion( float timeStep )
+{
+       // Clear the collision shape array for the next frame
+       // Ensure that the DX11 ones are moved off the device so they will be updated correctly
+       m_clCollisionObjectDetails.changedOnCPU();
+       m_clPerClothCollisionObjects.changedOnCPU();
+       m_collisionObjectDetails.clear();       
+
+       if ( m_bUpdateAnchoredNodePos )
+       {
+               // In OpenCL cloth solver, if softbody node has zero inverse mass(infinite mass) or anchor attached, 
+               // we need to update the node position in case the node or anchor is animated externally.
+               // If there is no such node, we can eliminate the unnecessary CPU-to-GPU data trasferring. 
+               for ( int i = 0; i < m_anchorNodeInfoArray.size(); i++ )
+               {
+                       const AnchorNodeInfoCL& anchorNodeInfo = m_anchorNodeInfoArray[i];
+                       btSoftBody::Node* node = anchorNodeInfo.pNode;
+
+                       using Vectormath::Aos::Point3;
+                       Point3 pos((float)node->m_x.getX(), (float)node->m_x.getY(), (float)node->m_x.getZ());                          
+                       m_anchorPosition[i] = pos;
+               }
+
+               if ( m_anchorNodeInfoArray.size() > 0 )
+                       m_clAnchorPosition.changedOnCPU();
+
+               updateFixedVertexPositions();
+       }
+               
+       {
+               BT_PROFILE("applyForces");
+               // Apply forces that we know about to the cloths
+               applyForces(  timeStep * getTimeScale() );
+       }
+
+       {
+               BT_PROFILE("integrate");
+               // Itegrate motion for all soft bodies dealt with by the solver
+               integrate( timeStep * getTimeScale() );
+       }
+
+       {
+               BT_PROFILE("updateBounds");
+               updateBounds();
+       }
+       // End prediction work for solvers
+}
+
+static Vectormath::Aos::Transform3 toTransform3( const btTransform &transform )
+{
+       Vectormath::Aos::Transform3 outTransform;
+       outTransform.setCol(0, toVector3(transform.getBasis().getColumn(0)));
+       outTransform.setCol(1, toVector3(transform.getBasis().getColumn(1)));
+       outTransform.setCol(2, toVector3(transform.getBasis().getColumn(2)));
+       outTransform.setCol(3, toVector3(transform.getOrigin()));
+       return outTransform;    
+}
+
+void btOpenCLAcceleratedSoftBodyInterface::updateBounds( const btVector3 &lowerBound, const btVector3 &upperBound )
+{
+       float scalarMargin = (float)getSoftBody()->getCollisionShape()->getMargin();
+       btVector3 vectorMargin( scalarMargin, scalarMargin, scalarMargin );
+       m_softBody->m_bounds[0] = lowerBound - vectorMargin;
+       m_softBody->m_bounds[1] = upperBound + vectorMargin;
+}  // btOpenCLSoftBodySolver::btDX11AcceleratedSoftBodyInterface::updateBounds
+
+void btOpenCLSoftBodySolver::processCollision( btSoftBody*, btSoftBody* )
+{
+
+}
+
+// Add the collision object to the set to deal with for a particular soft body
+void btOpenCLSoftBodySolver::processCollision( btSoftBody *softBody, const btCollisionObjectWrapper* collisionObject )
+{
+       int softBodyIndex = findSoftBodyIndex( softBody );
+
+       if( softBodyIndex >= 0 )
+       {
+               const btCollisionShape *collisionShape = collisionObject->getCollisionShape();
+               float friction = collisionObject->getCollisionObject()->getFriction();
+               int shapeType = collisionShape->getShapeType();
+               if( shapeType == CAPSULE_SHAPE_PROXYTYPE )
+               {
+                       // Add to the list of expected collision objects
+                       CollisionShapeDescription newCollisionShapeDescription;
+                       newCollisionShapeDescription.softBodyIdentifier = softBodyIndex;
+                       newCollisionShapeDescription.collisionShapeType = shapeType;
+                       // TODO: May need to transpose this matrix either here or in HLSL
+                       newCollisionShapeDescription.shapeTransform = toTransform3(collisionObject->getWorldTransform());
+                       const btCapsuleShape *capsule = static_cast<const btCapsuleShape*>( collisionShape );
+                       newCollisionShapeDescription.radius = capsule->getRadius();
+                       newCollisionShapeDescription.halfHeight = capsule->getHalfHeight();
+                       newCollisionShapeDescription.margin = capsule->getMargin();
+                       newCollisionShapeDescription.upAxis = capsule->getUpAxis();
+                       newCollisionShapeDescription.friction = friction;
+                       const btRigidBody* body = static_cast< const btRigidBody* >( collisionObject->getCollisionObject() );
+                       newCollisionShapeDescription.linearVelocity = toVector3(body->getLinearVelocity());
+                       newCollisionShapeDescription.angularVelocity = toVector3(body->getAngularVelocity());
+                       m_collisionObjectDetails.push_back( newCollisionShapeDescription );
+
+               }               
+               else {
+#ifdef _DEBUG
+                       printf("Unsupported collision shape type\n");
+#endif
+                       //btAssert(0 && "Unsupported collision shape type\n");
+               }
+       } else {
+               btAssert(0 && "Unknown soft body");
+       }
+} // btOpenCLSoftBodySolver::processCollision
+
+
+
+
+
+btOpenCLAcceleratedSoftBodyInterface* btOpenCLSoftBodySolver::findSoftBodyInterface( const btSoftBody* const softBody )
+{
+       for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex )
+       {
+               btOpenCLAcceleratedSoftBodyInterface* softBodyInterface = m_softBodySet[softBodyIndex];
+               if( softBodyInterface->getSoftBody() == softBody )
+                       return softBodyInterface;
+       }
+       return 0;
+}
+
+
+int btOpenCLSoftBodySolver::findSoftBodyIndex( const btSoftBody* const softBody )
+{
+       for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex )
+       {
+               btOpenCLAcceleratedSoftBodyInterface* softBodyInterface = m_softBodySet[softBodyIndex];
+               if( softBodyInterface->getSoftBody() == softBody )
+                       return softBodyIndex;
+       }
+       return 1;
+}
+
+bool btOpenCLSoftBodySolver::checkInitialized()
+{
+       if( !m_shadersInitialized )
+               if( buildShaders() )
+                       m_shadersInitialized = true;
+
+       return m_shadersInitialized;
+}
+
+bool btOpenCLSoftBodySolver::buildShaders()
+{
+       if( m_shadersInitialized )
+               return true;
+
+       const char* additionalMacros="";
+
+       // Ensure current kernels are released first
+       releaseKernels();
+       
+       m_currentCLFunctions->clearKernelCompilationFailures();
+
+       m_prepareLinksKernel = m_currentCLFunctions->compileCLKernelFromString( PrepareLinksCLString, "PrepareLinksKernel",additionalMacros,"OpenCLC10/PrepareLinks.cl" );
+       m_updatePositionsFromVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( UpdatePositionsFromVelocitiesCLString, "UpdatePositionsFromVelocitiesKernel" ,additionalMacros,"OpenCLC10/UpdatePositionsFromVelocities.cl");
+       m_solvePositionsFromLinksKernel = m_currentCLFunctions->compileCLKernelFromString( SolvePositionsCLString, "SolvePositionsFromLinksKernel",additionalMacros,"OpenCLC10/SolvePositions.cl" );
+       m_vSolveLinksKernel = m_currentCLFunctions->compileCLKernelFromString( VSolveLinksCLString, "VSolveLinksKernel" ,additionalMacros,"OpenCLC10/VSolveLinks.cl");
+       m_updateVelocitiesFromPositionsWithVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateNodesCLString, "updateVelocitiesFromPositionsWithVelocitiesKernel" ,additionalMacros,"OpenCLC10/UpdateNodes.cl");
+       m_updateVelocitiesFromPositionsWithoutVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( UpdatePositionsCLString, "updateVelocitiesFromPositionsWithoutVelocitiesKernel" ,additionalMacros,"OpenCLC10/UpdatePositions.cl");
+       m_solveCollisionsAndUpdateVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( SolveCollisionsAndUpdateVelocitiesCLString, "SolveCollisionsAndUpdateVelocitiesKernel" ,additionalMacros,"OpenCLC10/SolveCollisionsAndUpdateVelocities.cl");
+       m_integrateKernel = m_currentCLFunctions->compileCLKernelFromString( IntegrateCLString, "IntegrateKernel" ,additionalMacros,"OpenCLC10/Integrate.cl");
+       m_applyForcesKernel = m_currentCLFunctions->compileCLKernelFromString( ApplyForcesCLString, "ApplyForcesKernel" ,additionalMacros,"OpenCLC10/ApplyForces.cl");
+       m_updateFixedVertexPositionsKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateFixedVertexPositionsCLString, "UpdateFixedVertexPositions" , additionalMacros, "OpenCLC10/UpdateFixedVertexPositions.cl");
+
+       // TODO: Rename to UpdateSoftBodies
+       m_resetNormalsAndAreasKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateNormalsCLString, "ResetNormalsAndAreasKernel" ,additionalMacros,"OpenCLC10/UpdateNormals.cl");
+       m_normalizeNormalsAndAreasKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateNormalsCLString, "NormalizeNormalsAndAreasKernel" ,additionalMacros,"OpenCLC10/UpdateNormals.cl");
+       m_updateSoftBodiesKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateNormalsCLString, "UpdateSoftBodiesKernel" ,additionalMacros,"OpenCLC10/UpdateNormals.cl");
+
+
+       if( m_currentCLFunctions->getKernelCompilationFailures()==0 )
+               m_shadersInitialized = true;
+
+       return m_shadersInitialized;
+}
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.h
new file mode 100644 (file)
index 0000000..6de58c4
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.h
@@ -0,0 +1,527 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_SOFT_BODY_SOLVER_OPENCL_H
+#define BT_SOFT_BODY_SOLVER_OPENCL_H
+
+#include "stddef.h" //for size_t
+#include "vectormath/vmInclude.h"
+
+#include "BulletSoftBody/btSoftBodySolvers.h"
+#include "BulletSoftBody/btSoftBody.h"
+#include "btSoftBodySolverBuffer_OpenCL.h"
+#include "btSoftBodySolverLinkData_OpenCL.h"
+#include "btSoftBodySolverVertexData_OpenCL.h"
+#include "btSoftBodySolverTriangleData_OpenCL.h"
+
+class CLFunctions
+{
+protected:
+       cl_command_queue        m_cqCommandQue;
+       cl_context                      m_cxMainContext;
+
+       int     m_kernelCompilationFailures;
+
+
+public:
+       CLFunctions(cl_command_queue cqCommandQue, cl_context cxMainContext) :
+               m_cqCommandQue( cqCommandQue ),
+               m_cxMainContext( cxMainContext ),
+               m_kernelCompilationFailures(0)
+       {
+       }
+
+       int getKernelCompilationFailures() const
+       {
+               return m_kernelCompilationFailures;
+       }
+
+       /**
+        * Compile a compute shader kernel from a string and return the appropriate cl_kernel object.
+        */     
+       virtual cl_kernel compileCLKernelFromString( const char* kernelSource, const char* kernelName, const char* additionalMacros, const char* srcFileNameForCaching);
+
+       void    clearKernelCompilationFailures()
+       {
+               m_kernelCompilationFailures=0;
+       }
+};
+
+/**
+ * Entry in the collision shape array.
+ * Specifies the shape type, the transform matrix and the necessary details of the collisionShape.
+ */
+struct CollisionShapeDescription
+{
+       Vectormath::Aos::Transform3 shapeTransform;
+       Vectormath::Aos::Vector3 linearVelocity;
+       Vectormath::Aos::Vector3 angularVelocity;
+
+       int softBodyIdentifier;
+       int collisionShapeType;
+
+       // Both needed for capsule
+       float radius;
+       float halfHeight;
+       int upAxis;
+       
+       float margin;
+       float friction;
+
+       CollisionShapeDescription()
+       {
+               collisionShapeType = 0;
+               margin = 0;
+               friction = 0;
+       }
+};
+
+/**
+        * SoftBody class to maintain information about a soft body instance
+        * within a solver.
+        * This data addresses the main solver arrays.
+        */
+class btOpenCLAcceleratedSoftBodyInterface
+{
+protected:
+       /** Current number of vertices that are part of this cloth */
+       int m_numVertices;
+       /** Maximum number of vertices allocated to be part of this cloth */
+       int m_maxVertices;
+       /** Current number of triangles that are part of this cloth */
+       int m_numTriangles;
+       /** Maximum number of triangles allocated to be part of this cloth */
+       int m_maxTriangles;
+       /** Index of first vertex in the world allocated to this cloth */
+       int m_firstVertex;
+       /** Index of first triangle in the world allocated to this cloth */
+       int m_firstTriangle;
+       /** Index of first link in the world allocated to this cloth */
+       int m_firstLink;
+       /** Maximum number of links allocated to this cloth */
+       int m_maxLinks;
+       /** Current number of links allocated to this cloth */
+       int m_numLinks;
+
+       /** The actual soft body this data represents */
+       btSoftBody *m_softBody;
+
+
+public:
+       btOpenCLAcceleratedSoftBodyInterface( btSoftBody *softBody ) :
+         m_softBody( softBody )
+       {
+               m_numVertices = 0;
+               m_maxVertices = 0;
+               m_numTriangles = 0;
+               m_maxTriangles = 0;
+               m_firstVertex = 0;
+               m_firstTriangle = 0;
+               m_firstLink = 0;
+               m_maxLinks = 0;
+               m_numLinks = 0;
+       }
+       int getNumVertices()
+       {
+               return m_numVertices;
+       }
+
+       int getNumTriangles()
+       {
+               return m_numTriangles;
+       }
+
+       int getMaxVertices()
+       {
+               return m_maxVertices;
+       }
+
+       int getMaxTriangles()
+       {
+               return m_maxTriangles;
+       }
+
+       int getFirstVertex()
+       {
+               return m_firstVertex;
+       }
+
+       int getFirstTriangle()
+       {
+               return m_firstTriangle;
+       }
+       
+       /**
+        * Update the bounds in the btSoftBody object
+        */
+       void updateBounds( const btVector3 &lowerBound, const btVector3 &upperBound );
+
+       // TODO: All of these set functions will have to do checks and
+       // update the world because restructuring of the arrays will be necessary
+       // Reasonable use of "friend"?
+       void setNumVertices( int numVertices )
+       {
+               m_numVertices = numVertices;
+       }       
+
+       void setNumTriangles( int numTriangles )
+       {
+               m_numTriangles = numTriangles;
+       }
+
+       void setMaxVertices( int maxVertices )
+       {
+               m_maxVertices = maxVertices;
+       }
+
+       void setMaxTriangles( int maxTriangles )
+       {
+               m_maxTriangles = maxTriangles;
+       }
+
+       void setFirstVertex( int firstVertex )
+       {
+               m_firstVertex = firstVertex;
+       }
+
+       void setFirstTriangle( int firstTriangle )
+       {
+               m_firstTriangle = firstTriangle;
+       }
+
+       void setMaxLinks( int maxLinks )
+       {
+               m_maxLinks = maxLinks;
+       }
+
+       void setNumLinks( int numLinks )
+       {
+               m_numLinks = numLinks;
+       }
+
+       void setFirstLink( int firstLink )
+       {
+               m_firstLink = firstLink;
+       }
+
+       int getMaxLinks()
+       {
+               return m_maxLinks;
+       }
+
+       int getNumLinks()
+       {
+               return m_numLinks;
+       }
+
+       int getFirstLink()
+       {
+               return m_firstLink;
+       }
+
+       btSoftBody* getSoftBody()
+       {
+               return m_softBody;
+       }
+
+};
+
+
+
+class btOpenCLSoftBodySolver : public btSoftBodySolver
+{
+public:
+       
+
+       struct UIntVector3
+       {
+               UIntVector3()
+               {
+                       x = 0;
+                       y = 0;
+                       z = 0;
+                       _padding = 0;
+               }
+               
+               UIntVector3( unsigned int x_, unsigned int y_, unsigned int z_ )
+               {
+                       x = x_;
+                       y = y_;
+                       z = z_;
+                       _padding = 0;
+               }
+                       
+               unsigned int x;
+               unsigned int y;
+               unsigned int z;
+               unsigned int _padding;
+       };
+
+       struct CollisionObjectIndices
+       {
+               CollisionObjectIndices( int f, int e )
+               {
+                       firstObject = f;
+                       endObject = e;
+               }
+
+               int firstObject;
+               int endObject;
+       };
+
+       btSoftBodyLinkDataOpenCL m_linkData;
+       btSoftBodyVertexDataOpenCL m_vertexData;
+       btSoftBodyTriangleDataOpenCL m_triangleData;
+
+protected:
+
+       CLFunctions m_defaultCLFunctions;
+       CLFunctions* m_currentCLFunctions;
+
+       /** Variable to define whether we need to update solver constants on the next iteration */
+       bool m_updateSolverConstants;
+
+       bool m_shadersInitialized;
+
+       /** 
+        * Cloths owned by this solver.
+        * Only our cloths are in this array.
+        */
+       btAlignedObjectArray< btOpenCLAcceleratedSoftBodyInterface * > m_softBodySet;
+
+       /** Acceleration value to be applied to all non-static vertices in the solver. 
+        * Index n is cloth n, array sized by number of cloths in the world not the solver. 
+        */
+       btAlignedObjectArray< Vectormath::Aos::Vector3 >        m_perClothAcceleration;
+       btOpenCLBuffer<Vectormath::Aos::Vector3>                        m_clPerClothAcceleration;
+
+       /** Wind velocity to be applied normal to all non-static vertices in the solver. 
+        * Index n is cloth n, array sized by number of cloths in the world not the solver. 
+        */
+       btAlignedObjectArray< Vectormath::Aos::Vector3 >        m_perClothWindVelocity;
+       btOpenCLBuffer<Vectormath::Aos::Vector3>                        m_clPerClothWindVelocity;
+
+       /** Velocity damping factor */
+       btAlignedObjectArray< float >                                           m_perClothDampingFactor;
+       btOpenCLBuffer<float>                                                           m_clPerClothDampingFactor;
+
+       /** Velocity correction coefficient */
+       btAlignedObjectArray< float >                                           m_perClothVelocityCorrectionCoefficient;
+       btOpenCLBuffer<float>                                                           m_clPerClothVelocityCorrectionCoefficient;
+
+       /** Lift parameter for wind effect on cloth. */
+       btAlignedObjectArray< float >                                           m_perClothLiftFactor;
+       btOpenCLBuffer<float>                                                           m_clPerClothLiftFactor;
+       
+       /** Drag parameter for wind effect on cloth. */
+       btAlignedObjectArray< float >                                           m_perClothDragFactor;
+       btOpenCLBuffer<float>                                                           m_clPerClothDragFactor;
+
+       /** Density of the medium in which each cloth sits */
+       btAlignedObjectArray< float >                                           m_perClothMediumDensity;
+       btOpenCLBuffer<float>                                                           m_clPerClothMediumDensity;
+
+       /** 
+        * Collision shape details: pair of index of first collision shape for the cloth and number of collision objects.
+        */
+       btAlignedObjectArray< CollisionObjectIndices >          m_perClothCollisionObjects;
+       btOpenCLBuffer<CollisionObjectIndices>                          m_clPerClothCollisionObjects;
+
+       /** 
+        * Collision shapes being passed across to the cloths in this solver.
+        */
+       btAlignedObjectArray< CollisionShapeDescription >       m_collisionObjectDetails;
+       btOpenCLBuffer< CollisionShapeDescription >                     m_clCollisionObjectDetails;
+
+
+       
+       /** 
+        * Friction coefficient for each cloth
+        */
+       btAlignedObjectArray< float >   m_perClothFriction;
+       btOpenCLBuffer< float >                 m_clPerClothFriction;
+
+       // anchor node info
+       struct AnchorNodeInfoCL
+       {
+               int clVertexIndex;
+               btSoftBody::Node* pNode;
+       };
+
+       btAlignedObjectArray<AnchorNodeInfoCL> m_anchorNodeInfoArray;
+       btAlignedObjectArray<Vectormath::Aos::Point3> m_anchorPosition;
+       btOpenCLBuffer<Vectormath::Aos::Point3>           m_clAnchorPosition;
+       btAlignedObjectArray<int> m_anchorIndex;
+       btOpenCLBuffer<int>               m_clAnchorIndex;
+
+       bool m_bUpdateAnchoredNodePos;
+
+       cl_kernel               m_prepareLinksKernel;
+       cl_kernel               m_solvePositionsFromLinksKernel;
+       cl_kernel               m_updateConstantsKernel;
+       cl_kernel               m_integrateKernel;
+       cl_kernel               m_addVelocityKernel;
+       cl_kernel               m_updatePositionsFromVelocitiesKernel;
+       cl_kernel               m_updateVelocitiesFromPositionsWithoutVelocitiesKernel;
+       cl_kernel               m_updateVelocitiesFromPositionsWithVelocitiesKernel;
+       cl_kernel               m_vSolveLinksKernel;
+       cl_kernel               m_solveCollisionsAndUpdateVelocitiesKernel;
+       cl_kernel               m_resetNormalsAndAreasKernel;
+       cl_kernel               m_normalizeNormalsAndAreasKernel;
+       cl_kernel               m_updateSoftBodiesKernel;
+
+       cl_kernel               m_outputToVertexArrayKernel;
+       cl_kernel               m_applyForcesKernel;
+       cl_kernel       m_updateFixedVertexPositionsKernel;     
+
+       cl_command_queue        m_cqCommandQue;
+       cl_context                      m_cxMainContext;
+       
+       size_t                          m_defaultWorkGroupSize;
+
+
+       virtual bool buildShaders();
+
+       void resetNormalsAndAreas( int numVertices );
+
+       void normalizeNormalsAndAreas( int numVertices );
+
+       void executeUpdateSoftBodies( int firstTriangle, int numTriangles );
+
+       void prepareCollisionConstraints();
+       
+       Vectormath::Aos::Vector3 ProjectOnAxis( const Vectormath::Aos::Vector3 &v, const Vectormath::Aos::Vector3 &a );
+
+       void ApplyClampedForce( float solverdt, const Vectormath::Aos::Vector3 &force, const Vectormath::Aos::Vector3 &vertexVelocity, float inverseMass, Vectormath::Aos::Vector3 &vertexForce );
+       
+
+       int findSoftBodyIndex( const btSoftBody* const softBody );
+
+       virtual void applyForces( float solverdt );
+
+       void updateFixedVertexPositions();
+
+       /**
+        * Integrate motion on the solver.
+        */
+       virtual void integrate( float solverdt );
+
+       virtual void updateConstants( float timeStep );
+
+       float computeTriangleArea( 
+               const Vectormath::Aos::Point3 &vertex0,
+               const Vectormath::Aos::Point3 &vertex1,
+               const Vectormath::Aos::Point3 &vertex2 );
+
+
+       //////////////////////////////////////
+       // Kernel dispatches
+       void prepareLinks();
+
+       void solveLinksForVelocity( int startLink, int numLinks, float kst );
+
+       void updatePositionsFromVelocities( float solverdt );
+
+       virtual void solveLinksForPosition( int startLink, int numLinks, float kst, float ti );
+       
+       void updateVelocitiesFromPositionsWithVelocities( float isolverdt );
+
+       void updateVelocitiesFromPositionsWithoutVelocities( float isolverdt );
+       virtual void solveCollisionsAndUpdateVelocities( float isolverdt );
+
+       // End kernel dispatches
+       /////////////////////////////////////
+       
+       void updateBounds();
+
+       void releaseKernels();
+
+public:
+       btOpenCLSoftBodySolver(cl_command_queue queue,cl_context        ctx, bool bUpdateAchchoredNodePos = false);
+
+       virtual ~btOpenCLSoftBodySolver();
+
+
+       
+       btOpenCLAcceleratedSoftBodyInterface *findSoftBodyInterface( const btSoftBody* const softBody );
+
+       virtual btSoftBodyLinkData &getLinkData();
+
+       virtual btSoftBodyVertexData &getVertexData();
+
+       virtual btSoftBodyTriangleData &getTriangleData();
+
+       virtual SolverTypes getSolverType() const
+       {
+               return CL_SOLVER;
+       }
+
+
+       virtual bool checkInitialized();
+
+       virtual void updateSoftBodies( );
+
+       virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies , bool forceUpdate=false);
+
+       virtual void copyBackToSoftBodies(bool bMove = true);
+
+       virtual void solveConstraints( float solverdt );
+
+       virtual void predictMotion( float solverdt );
+
+       virtual void processCollision( btSoftBody *, const btCollisionObjectWrapper* );
+
+       virtual void processCollision( btSoftBody*, btSoftBody* );
+
+       virtual void    setDefaultWorkgroupSize(size_t workGroupSize)
+       {
+               m_defaultWorkGroupSize = workGroupSize;
+       }
+       virtual size_t  getDefaultWorkGroupSize() const
+       {
+               return m_defaultWorkGroupSize;
+       }
+
+       void    setCLFunctions(CLFunctions* funcs)
+       {
+               if (funcs)
+                       m_currentCLFunctions = funcs;
+               else
+                       m_currentCLFunctions  = &m_defaultCLFunctions;
+       }
+
+}; // btOpenCLSoftBodySolver
+
+
+/** 
+ * Class to manage movement of data from a solver to a given target.
+ * This version is the CL to CPU version.
+ */
+class btSoftBodySolverOutputCLtoCPU : public btSoftBodySolverOutput
+{
+protected:
+
+public:
+       btSoftBodySolverOutputCLtoCPU()
+       {
+       }
+
+       /** Output current computed vertex data to the vertex buffers for all cloths in the solver. */
+       virtual void copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer );
+};
+
+
+
+#endif // #ifndef BT_SOFT_BODY_SOLVER_OPENCL_H

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCLSIMDAware.cpp b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCLSIMDAware.cpp
new file mode 100644 (file)
index 0000000..0380a6d
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCLSIMDAware.cpp
@@ -0,0 +1,1101 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
+#include "vectormath/vmInclude.h"
+#include <stdio.h> //@todo: remove the debugging printf at some stage
+#include "btSoftBodySolver_OpenCLSIMDAware.h"
+#include "BulletSoftBody/btSoftBodySolverVertexBuffer.h"
+#include "BulletSoftBody/btSoftBody.h"
+#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
+#include <limits.h>
+
+#define WAVEFRONT_SIZE 32
+#define WAVEFRONT_BLOCK_MULTIPLIER 2
+#define GROUP_SIZE (WAVEFRONT_SIZE*WAVEFRONT_BLOCK_MULTIPLIER)
+#define LINKS_PER_SIMD_LANE 16
+
+static const size_t workGroupSize = GROUP_SIZE;
+
+
+//CL_VERSION_1_1 seems broken on NVidia SDK so just disable it
+
+////OpenCL 1.0 kernels don't use float3
+#define MSTRINGIFY(A) #A
+static const char* UpdatePositionsFromVelocitiesCLString = 
+#include "OpenCLC10/UpdatePositionsFromVelocities.cl"
+static const char* SolvePositionsCLString = 
+#include "OpenCLC10/SolvePositionsSIMDBatched.cl"
+static const char* UpdateNodesCLString = 
+#include "OpenCLC10/UpdateNodes.cl"
+static const char* UpdatePositionsCLString = 
+#include "OpenCLC10/UpdatePositions.cl"
+static const char* UpdateConstantsCLString = 
+#include "OpenCLC10/UpdateConstants.cl"
+static const char* IntegrateCLString = 
+#include "OpenCLC10/Integrate.cl"
+static const char* ApplyForcesCLString = 
+#include "OpenCLC10/ApplyForces.cl"
+static const char* UpdateFixedVertexPositionsCLString = 
+#include "OpenCLC10/UpdateFixedVertexPositions.cl"
+static const char* UpdateNormalsCLString = 
+#include "OpenCLC10/UpdateNormals.cl"
+static const char* VSolveLinksCLString = 
+#include "OpenCLC10/VSolveLinks.cl"
+static const char* SolveCollisionsAndUpdateVelocitiesCLString =
+#include "OpenCLC10/SolveCollisionsAndUpdateVelocitiesSIMDBatched.cl"
+static const char* OutputToVertexArrayCLString =
+#include "OpenCLC10/OutputToVertexArray.cl"
+
+
+
+btSoftBodyLinkDataOpenCLSIMDAware::btSoftBodyLinkDataOpenCLSIMDAware(cl_command_queue queue,  cl_context ctx) :
+       m_cqCommandQue(queue),
+       m_wavefrontSize( WAVEFRONT_SIZE ),
+       m_linksPerWorkItem( LINKS_PER_SIMD_LANE ),
+       m_maxBatchesWithinWave( 0 ),
+       m_maxLinksPerWavefront( m_wavefrontSize * m_linksPerWorkItem ),
+       m_numWavefronts( 0 ),
+       m_maxVertex( 0 ),
+       m_clNumBatchesAndVerticesWithinWaves( queue, ctx, &m_numBatchesAndVerticesWithinWaves, true ),
+       m_clWavefrontVerticesGlobalAddresses( queue, ctx, &m_wavefrontVerticesGlobalAddresses, true ),
+       m_clLinkVerticesLocalAddresses( queue, ctx, &m_linkVerticesLocalAddresses, true ),
+       m_clLinkStrength( queue, ctx, &m_linkStrength, false ),
+       m_clLinksMassLSC( queue, ctx, &m_linksMassLSC, false ),
+       m_clLinksRestLengthSquared( queue, ctx, &m_linksRestLengthSquared, false ),
+       m_clLinksRestLength( queue, ctx, &m_linksRestLength, false ),
+       m_clLinksMaterialLinearStiffnessCoefficient( queue, ctx, &m_linksMaterialLinearStiffnessCoefficient, false )
+{
+}
+
+btSoftBodyLinkDataOpenCLSIMDAware::~btSoftBodyLinkDataOpenCLSIMDAware()
+{
+}
+
+static Vectormath::Aos::Vector3 toVector3( const btVector3 &vec )
+{
+       Vectormath::Aos::Vector3 outVec( vec.getX(), vec.getY(), vec.getZ() );
+       return outVec;
+}
+
+/** Allocate enough space in all link-related arrays to fit numLinks links */
+void btSoftBodyLinkDataOpenCLSIMDAware::createLinks( int numLinks )
+{
+       int previousSize = m_links.size();
+       int newSize = previousSize + numLinks;
+
+       btSoftBodyLinkData::createLinks( numLinks );
+
+       // Resize the link addresses array as well
+       m_linkAddresses.resize( newSize );
+}
+
+/** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */
+void btSoftBodyLinkDataOpenCLSIMDAware::setLinkAt( 
+       const LinkDescription &link, 
+       int linkIndex )
+{
+       btSoftBodyLinkData::setLinkAt( link, linkIndex );
+
+       if( link.getVertex0() > m_maxVertex )
+               m_maxVertex = link.getVertex0();
+       if( link.getVertex1() > m_maxVertex )
+               m_maxVertex = link.getVertex1();
+
+       // Set the link index correctly for initialisation
+       m_linkAddresses[linkIndex] = linkIndex;
+}
+
+bool btSoftBodyLinkDataOpenCLSIMDAware::onAccelerator()
+{
+       return m_onGPU;
+}
+
+bool btSoftBodyLinkDataOpenCLSIMDAware::moveToAccelerator()
+{
+       bool success = true;
+       success = success && m_clNumBatchesAndVerticesWithinWaves.moveToGPU();
+       success = success && m_clWavefrontVerticesGlobalAddresses.moveToGPU();
+       success = success && m_clLinkVerticesLocalAddresses.moveToGPU();
+       success = success && m_clLinkStrength.moveToGPU();
+       success = success && m_clLinksMassLSC.moveToGPU();
+       success = success && m_clLinksRestLengthSquared.moveToGPU();
+       success = success && m_clLinksRestLength.moveToGPU();
+       success = success && m_clLinksMaterialLinearStiffnessCoefficient.moveToGPU();
+
+       if( success ) {
+               m_onGPU = true;
+       }
+
+       return success;
+}
+
+bool btSoftBodyLinkDataOpenCLSIMDAware::moveFromAccelerator()
+{
+       bool success = true;
+       success = success && m_clNumBatchesAndVerticesWithinWaves.moveToGPU();
+       success = success && m_clWavefrontVerticesGlobalAddresses.moveToGPU();
+       success = success && m_clLinkVerticesLocalAddresses.moveToGPU();
+       success = success && m_clLinkStrength.moveFromGPU();
+       success = success && m_clLinksMassLSC.moveFromGPU();
+       success = success && m_clLinksRestLengthSquared.moveFromGPU();
+       success = success && m_clLinksRestLength.moveFromGPU();
+       success = success && m_clLinksMaterialLinearStiffnessCoefficient.moveFromGPU();
+
+       if( success ) {
+               m_onGPU = false;
+       }
+
+       return success;
+}
+
+
+
+
+
+
+
+
+btOpenCLSoftBodySolverSIMDAware::btOpenCLSoftBodySolverSIMDAware(cl_command_queue queue, cl_context ctx, bool bUpdateAchchoredNodePos) :
+       btOpenCLSoftBodySolver( queue, ctx, bUpdateAchchoredNodePos ),
+       m_linkData(queue, ctx)
+{
+       // Initial we will clearly need to update solver constants
+       // For now this is global for the cloths linked with this solver - we should probably make this body specific 
+       // for performance in future once we understand more clearly when constants need to be updated
+       m_updateSolverConstants = true;
+
+       m_shadersInitialized = false;
+}
+
+btOpenCLSoftBodySolverSIMDAware::~btOpenCLSoftBodySolverSIMDAware()
+{
+       releaseKernels();
+}
+
+void btOpenCLSoftBodySolverSIMDAware::optimize( btAlignedObjectArray< btSoftBody * > &softBodies ,bool forceUpdate)
+{
+       if( forceUpdate || m_softBodySet.size() != softBodies.size() )
+       {
+               // Have a change in the soft body set so update, reloading all the data
+               getVertexData().clear();
+               getTriangleData().clear();
+               getLinkData().clear();
+               m_softBodySet.resize(0);
+               m_anchorIndex.clear();
+
+               int maxPiterations = 0;
+               int maxViterations = 0;
+
+               for( int softBodyIndex = 0; softBodyIndex < softBodies.size(); ++softBodyIndex )
+               {
+                       btSoftBody *softBody = softBodies[ softBodyIndex ];
+                       using Vectormath::Aos::Matrix3;
+                       using Vectormath::Aos::Point3;
+
+                       // Create SoftBody that will store the information within the solver
+                       btOpenCLAcceleratedSoftBodyInterface* newSoftBody = new btOpenCLAcceleratedSoftBodyInterface( softBody );
+                       m_softBodySet.push_back( newSoftBody );
+
+                       m_perClothAcceleration.push_back( toVector3(softBody->getWorldInfo()->m_gravity) );
+                       m_perClothDampingFactor.push_back(softBody->m_cfg.kDP);
+                       m_perClothVelocityCorrectionCoefficient.push_back( softBody->m_cfg.kVCF );
+                       m_perClothLiftFactor.push_back( softBody->m_cfg.kLF );
+                       m_perClothDragFactor.push_back( softBody->m_cfg.kDG );
+                       m_perClothMediumDensity.push_back(softBody->getWorldInfo()->air_density);
+                       // Simple init values. Actually we'll put 0 and -1 into them at the appropriate time
+                       m_perClothFriction.push_back(softBody->m_cfg.kDF);
+                       m_perClothCollisionObjects.push_back( CollisionObjectIndices(-1, -1) );
+
+                       // Add space for new vertices and triangles in the default solver for now
+                       // TODO: Include space here for tearing too later
+                       int firstVertex = getVertexData().getNumVertices();
+                       int numVertices = softBody->m_nodes.size();
+                       // Round maxVertices to a multiple of the workgroup size so we know we're safe to run over in a given group
+                       // maxVertices can be increased to allow tearing, but should be used sparingly because these extra verts will always be processed
+                       int maxVertices = GROUP_SIZE*((numVertices+GROUP_SIZE)/GROUP_SIZE);
+                       // Allocate space for new vertices in all the vertex arrays
+                       getVertexData().createVertices( numVertices, softBodyIndex, maxVertices );
+
+
+                       int firstTriangle = getTriangleData().getNumTriangles();
+                       int numTriangles = softBody->m_faces.size();
+                       int maxTriangles = numTriangles;
+                       getTriangleData().createTriangles( maxTriangles );
+
+                       // Copy vertices from softbody into the solver
+                       for( int vertex = 0; vertex < numVertices; ++vertex )
+                       {
+                               Point3 multPoint(softBody->m_nodes[vertex].m_x.getX(), softBody->m_nodes[vertex].m_x.getY(), softBody->m_nodes[vertex].m_x.getZ());
+                               btSoftBodyVertexData::VertexDescription desc;
+
+                               // TODO: Position in the softbody might be pre-transformed
+                               // or we may need to adapt for the pose.
+                               //desc.setPosition( cloth.getMeshTransform()*multPoint );
+                               desc.setPosition( multPoint );
+
+                               float vertexInverseMass = softBody->m_nodes[vertex].m_im;
+                               desc.setInverseMass(vertexInverseMass);
+                               getVertexData().setVertexAt( desc, firstVertex + vertex );
+
+                               m_anchorIndex.push_back(-1);
+                       }
+                       for( int vertex = numVertices; vertex < maxVertices; ++vertex )
+                       {
+                               m_anchorIndex.push_back(-1.0);
+                       }
+
+                       // Copy triangles similarly
+                       // We're assuming here that vertex indices are based on the firstVertex rather than the entire scene
+                       for( int triangle = 0; triangle < numTriangles; ++triangle )
+                       {
+                               // Note that large array storage is relative to the array not to the cloth
+                               // So we need to add firstVertex to each value
+                               int vertexIndex0 = (softBody->m_faces[triangle].m_n[0] - &(softBody->m_nodes[0]));
+                               int vertexIndex1 = (softBody->m_faces[triangle].m_n[1] - &(softBody->m_nodes[0]));
+                               int vertexIndex2 = (softBody->m_faces[triangle].m_n[2] - &(softBody->m_nodes[0]));
+                               btSoftBodyTriangleData::TriangleDescription newTriangle(vertexIndex0 + firstVertex, vertexIndex1 + firstVertex, vertexIndex2 + firstVertex);
+                               getTriangleData().setTriangleAt( newTriangle, firstTriangle + triangle );
+                               
+                               // Increase vertex triangle counts for this triangle            
+                               getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex0)++;
+                               getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex1)++;
+                               getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex2)++;
+                       }
+
+                       int firstLink = getLinkData().getNumLinks();
+                       int numLinks = softBody->m_links.size();
+                       int maxLinks = numLinks;
+                       
+                       // Allocate space for the links
+                       getLinkData().createLinks( numLinks );
+
+                       // Add the links
+                       for( int link = 0; link < numLinks; ++link )
+                       {
+                               int vertexIndex0 = softBody->m_links[link].m_n[0] - &(softBody->m_nodes[0]);
+                               int vertexIndex1 = softBody->m_links[link].m_n[1] - &(softBody->m_nodes[0]);
+
+                               btSoftBodyLinkData::LinkDescription newLink(vertexIndex0 + firstVertex, vertexIndex1 + firstVertex, softBody->m_links[link].m_material->m_kLST);
+                               newLink.setLinkStrength(1.f);
+                               getLinkData().setLinkAt(newLink, firstLink + link);
+                       }
+                       
+                       newSoftBody->setFirstVertex( firstVertex );
+                       newSoftBody->setFirstTriangle( firstTriangle );
+                       newSoftBody->setNumVertices( numVertices );
+                       newSoftBody->setMaxVertices( maxVertices );
+                       newSoftBody->setNumTriangles( numTriangles );
+                       newSoftBody->setMaxTriangles( maxTriangles );
+                       newSoftBody->setFirstLink( firstLink );
+                       newSoftBody->setNumLinks( numLinks );
+
+                       // Find maximum piterations and viterations
+                       int piterations = softBody->m_cfg.piterations;
+
+            if ( piterations > maxPiterations )
+                  maxPiterations = piterations;
+
+            int viterations = softBody->m_cfg.viterations;
+
+                       if ( viterations > maxViterations )
+                  maxViterations = viterations;
+
+                       // zero mass
+                       for( int vertex = 0; vertex < numVertices; ++vertex )
+                       {
+                               if ( softBody->m_nodes[vertex].m_im == 0 )
+                               {
+                                       AnchorNodeInfoCL nodeInfo;
+                                       nodeInfo.clVertexIndex = firstVertex + vertex;
+                                       nodeInfo.pNode = &softBody->m_nodes[vertex];
+
+                                       m_anchorNodeInfoArray.push_back(nodeInfo);
+                               }
+                       }                       
+
+                       // anchor position
+                       if ( numVertices > 0 )
+                       {
+                               for ( int anchorIndex = 0; anchorIndex < softBody->m_anchors.size(); anchorIndex++ )
+                               {
+                                       btSoftBody::Node* anchorNode = softBody->m_anchors[anchorIndex].m_node;
+                                       btSoftBody::Node* firstNode = &softBody->m_nodes[0];
+
+                                       AnchorNodeInfoCL nodeInfo;
+                                       nodeInfo.clVertexIndex = firstVertex + (int)(anchorNode - firstNode);
+                                       nodeInfo.pNode = anchorNode;
+
+                                       m_anchorNodeInfoArray.push_back(nodeInfo);
+                               }
+                       }                       
+               }
+
+               m_anchorPosition.clear();               
+               m_anchorPosition.resize(m_anchorNodeInfoArray.size());
+
+               for ( int anchorNode = 0; anchorNode < m_anchorNodeInfoArray.size(); anchorNode++ )
+               {
+                       const AnchorNodeInfoCL& anchorNodeInfo = m_anchorNodeInfoArray[anchorNode];
+                       m_anchorIndex[anchorNodeInfo.clVertexIndex] = anchorNode;
+                       getVertexData().getInverseMass(anchorNodeInfo.clVertexIndex) = 0.0f;
+               }
+               
+               updateConstants(0.f);
+
+               // set position and velocity iterations
+               setNumberOfPositionIterations(maxPiterations);
+               setNumberOfVelocityIterations(maxViterations);
+
+               // set wind velocity
+               m_perClothWindVelocity.resize( m_softBodySet.size() );
+               for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex )
+               {
+                       btSoftBody *softBody = m_softBodySet[softBodyIndex]->getSoftBody();                     
+                       m_perClothWindVelocity[softBodyIndex] = toVector3(softBody->getWindVelocity());
+               }
+
+               m_clPerClothWindVelocity.changedOnCPU();
+
+               // generate batches
+               m_linkData.generateBatches();           
+               m_triangleData.generateBatches();
+
+               // Build the shaders to match the batching parameters
+               buildShaders();
+       }
+}
+
+
+btSoftBodyLinkData &btOpenCLSoftBodySolverSIMDAware::getLinkData()
+{
+       // TODO: Consider setting link data to "changed" here
+       return m_linkData;
+}
+
+
+
+
+void btOpenCLSoftBodySolverSIMDAware::updateConstants( float timeStep )
+{                      
+
+       using namespace Vectormath::Aos;
+
+       if( m_updateSolverConstants )
+       {
+               m_updateSolverConstants = false;
+
+               // Will have to redo this if we change the structure (tear, maybe) or various other possible changes
+
+               // Initialise link constants
+               const int numLinks = m_linkData.getNumLinks();
+               for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex )
+               {
+                       btSoftBodyLinkData::LinkNodePair &vertices( m_linkData.getVertexPair(linkIndex) );
+                       m_linkData.getRestLength(linkIndex) = length((m_vertexData.getPosition( vertices.vertex0 ) - m_vertexData.getPosition( vertices.vertex1 )));
+                       float invMass0 = m_vertexData.getInverseMass(vertices.vertex0);
+                       float invMass1 = m_vertexData.getInverseMass(vertices.vertex1);
+                       float linearStiffness = m_linkData.getLinearStiffnessCoefficient(linkIndex);
+                       float massLSC = (invMass0 + invMass1)/linearStiffness;
+                       m_linkData.getMassLSC(linkIndex) = massLSC;
+                       float restLength = m_linkData.getRestLength(linkIndex);
+                       float restLengthSquared = restLength*restLength;
+                       m_linkData.getRestLengthSquared(linkIndex) = restLengthSquared;
+               }
+       }
+
+}
+
+
+
+void btOpenCLSoftBodySolverSIMDAware::solveConstraints( float solverdt )
+{
+
+       using Vectormath::Aos::Vector3;
+       using Vectormath::Aos::Point3;
+       using Vectormath::Aos::lengthSqr;
+       using Vectormath::Aos::dot;
+
+       // Prepare links
+       int numLinks = m_linkData.getNumLinks();
+       int numVertices = m_vertexData.getNumVertices();
+
+       float kst = 1.f;
+       float ti = 0.f;
+
+
+       m_clPerClothDampingFactor.moveToGPU();
+       m_clPerClothVelocityCorrectionCoefficient.moveToGPU();
+
+
+       // Ensure data is on accelerator
+       m_linkData.moveToAccelerator();
+       m_vertexData.moveToAccelerator();
+
+       
+       //prepareLinks();       
+
+       prepareCollisionConstraints();
+
+       // Solve drift
+       for( int iteration = 0; iteration < m_numberOfPositionIterations ; ++iteration )
+       {
+
+               for( int i = 0; i < m_linkData.m_wavefrontBatchStartLengths.size(); ++i )
+               {
+                       int startWave = m_linkData.m_wavefrontBatchStartLengths[i].start;
+                       int numWaves = m_linkData.m_wavefrontBatchStartLengths[i].length;
+                       solveLinksForPosition( startWave, numWaves, kst, ti );
+               }
+       } // for( int iteration = 0; iteration < m_numberOfPositionIterations ; ++iteration )
+
+       
+       // At this point assume that the force array is blank - we will overwrite it
+       solveCollisionsAndUpdateVelocities( 1.f/solverdt );
+}
+
+
+//////////////////////////////////////
+// Kernel dispatches
+
+
+void btOpenCLSoftBodySolverSIMDAware::solveLinksForPosition( int startWave, int numWaves, float kst, float ti )
+{
+       cl_int ciErrNum;
+       ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,0, sizeof(int), &startWave);
+       ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,1, sizeof(int), &numWaves);
+       ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,2, sizeof(float), &kst);
+       ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,3, sizeof(float), &ti);
+       
+       
+       ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,4, sizeof(cl_mem), &m_linkData.m_clNumBatchesAndVerticesWithinWaves.m_buffer);
+       ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,5, sizeof(cl_mem), &m_linkData.m_clWavefrontVerticesGlobalAddresses.m_buffer);
+       ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,6, sizeof(cl_mem), &m_linkData.m_clLinkVerticesLocalAddresses.m_buffer);
+       ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,7, sizeof(cl_mem), &m_linkData.m_clLinksMassLSC.m_buffer);
+
+       ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,8, sizeof(cl_mem), &m_linkData.m_clLinksRestLengthSquared.m_buffer);
+       ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,9, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer);
+       ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,10, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer);
+
+       ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,11, WAVEFRONT_BLOCK_MULTIPLIER*sizeof(cl_int2), 0);
+       ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,12, m_linkData.getMaxVerticesPerWavefront()*WAVEFRONT_BLOCK_MULTIPLIER*sizeof(cl_float4), 0);
+       ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,13, m_linkData.getMaxVerticesPerWavefront()*WAVEFRONT_BLOCK_MULTIPLIER*sizeof(cl_float), 0);
+
+       size_t  numWorkItems = workGroupSize*((numWaves*WAVEFRONT_SIZE + (workGroupSize-1)) / workGroupSize);
+       
+       ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_solvePositionsFromLinksKernel,1,NULL,&numWorkItems,&workGroupSize,0,0,0);
+       
+       if( ciErrNum!= CL_SUCCESS ) 
+       {
+               btAssert( 0 &&  "enqueueNDRangeKernel(m_solvePositionsFromLinksKernel)");
+       }
+
+} // solveLinksForPosition
+
+void btOpenCLSoftBodySolverSIMDAware::solveCollisionsAndUpdateVelocities( float isolverdt )
+{
+       // Copy kernel parameters to GPU
+       m_vertexData.moveToAccelerator();
+       m_clPerClothFriction.moveToGPU();
+       m_clPerClothDampingFactor.moveToGPU();
+       m_clPerClothCollisionObjects.moveToGPU();
+       m_clCollisionObjectDetails.moveToGPU();
+       
+       cl_int ciErrNum;
+       int numVerts = m_vertexData.getNumVertices();
+       ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 0, sizeof(int), &numVerts);
+       ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 1, sizeof(int), &isolverdt);
+       ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 2, sizeof(cl_mem),&m_vertexData.m_clClothIdentifier.m_buffer);
+       ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 3, sizeof(cl_mem),&m_vertexData.m_clVertexPreviousPosition.m_buffer);
+       ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 4, sizeof(cl_mem),&m_clPerClothFriction.m_buffer);
+       ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 5, sizeof(cl_mem),&m_clPerClothDampingFactor.m_buffer);
+       ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 6, sizeof(cl_mem),&m_clPerClothCollisionObjects.m_buffer);
+       ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 7, sizeof(cl_mem),&m_clCollisionObjectDetails.m_buffer);
+       ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 8, sizeof(cl_mem),&m_vertexData.m_clVertexForceAccumulator.m_buffer);
+       ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 9, sizeof(cl_mem),&m_vertexData.m_clVertexVelocity.m_buffer);
+       ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 10, sizeof(cl_mem),&m_vertexData.m_clVertexPosition.m_buffer);
+       ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 11, sizeof(CollisionShapeDescription)*16,0);
+       ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 12, sizeof(cl_mem),&m_vertexData.m_clVertexInverseMass.m_buffer);
+       size_t  numWorkItems = workGroupSize*((m_vertexData.getNumVertices() + (workGroupSize-1)) / workGroupSize);
+       
+       if (numWorkItems)
+       {
+               ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_solveCollisionsAndUpdateVelocitiesKernel, 1, NULL, &numWorkItems, &workGroupSize,0,0,0);
+               
+               if( ciErrNum != CL_SUCCESS ) 
+               {
+                       btAssert( 0 &&  "enqueueNDRangeKernel(m_solveCollisionsAndUpdateVelocitiesKernel)");
+               }
+       }
+
+} // btOpenCLSoftBodySolverSIMDAware::updateVelocitiesFromPositionsWithoutVelocities
+
+// End kernel dispatches
+/////////////////////////////////////
+
+
+
+bool btOpenCLSoftBodySolverSIMDAware::buildShaders()
+{
+       releaseKernels();
+
+       if( m_shadersInitialized )
+               return true;
+
+       const char* additionalMacros="";
+
+       m_currentCLFunctions->clearKernelCompilationFailures();
+
+       char *wavefrontMacros = new char[256];
+
+       sprintf(
+               wavefrontMacros, 
+               "-DMAX_NUM_VERTICES_PER_WAVE=%d -DMAX_BATCHES_PER_WAVE=%d -DWAVEFRONT_SIZE=%d -DWAVEFRONT_BLOCK_MULTIPLIER=%d -DBLOCK_SIZE=%d", 
+               m_linkData.getMaxVerticesPerWavefront(),
+               m_linkData.getMaxBatchesPerWavefront(),
+               m_linkData.getWavefrontSize(),
+               WAVEFRONT_BLOCK_MULTIPLIER,
+               WAVEFRONT_BLOCK_MULTIPLIER*m_linkData.getWavefrontSize());
+       
+       m_updatePositionsFromVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( UpdatePositionsFromVelocitiesCLString, "UpdatePositionsFromVelocitiesKernel", additionalMacros,"OpenCLC10/UpdatePositionsFromVelocities.cl");
+       m_solvePositionsFromLinksKernel = m_currentCLFunctions->compileCLKernelFromString( SolvePositionsCLString, "SolvePositionsFromLinksKernel", wavefrontMacros ,"OpenCLC10/SolvePositionsSIMDBatched.cl");
+       m_updateVelocitiesFromPositionsWithVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateNodesCLString, "updateVelocitiesFromPositionsWithVelocitiesKernel", additionalMacros ,"OpenCLC10/UpdateNodes.cl");
+       m_updateVelocitiesFromPositionsWithoutVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( UpdatePositionsCLString, "updateVelocitiesFromPositionsWithoutVelocitiesKernel", additionalMacros,"OpenCLC10/UpdatePositions.cl");
+       m_integrateKernel = m_currentCLFunctions->compileCLKernelFromString( IntegrateCLString, "IntegrateKernel", additionalMacros ,"OpenCLC10/Integrate.cl");
+       m_applyForcesKernel = m_currentCLFunctions->compileCLKernelFromString( ApplyForcesCLString, "ApplyForcesKernel", additionalMacros,"OpenCLC10/ApplyForces.cl" );
+       m_updateFixedVertexPositionsKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateFixedVertexPositionsCLString, "UpdateFixedVertexPositions" ,additionalMacros,"OpenCLC10/UpdateFixedVertexPositions.cl");
+       m_solveCollisionsAndUpdateVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( SolveCollisionsAndUpdateVelocitiesCLString, "SolveCollisionsAndUpdateVelocitiesKernel", additionalMacros ,"OpenCLC10/SolveCollisionsAndUpdateVelocitiesSIMDBatched.cl");
+
+       // TODO: Rename to UpdateSoftBodies
+       m_resetNormalsAndAreasKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateNormalsCLString, "ResetNormalsAndAreasKernel", additionalMacros ,"OpenCLC10/UpdateNormals.cl");
+       m_normalizeNormalsAndAreasKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateNormalsCLString, "NormalizeNormalsAndAreasKernel", additionalMacros ,"OpenCLC10/UpdateNormals.cl");
+       m_updateSoftBodiesKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateNormalsCLString, "UpdateSoftBodiesKernel", additionalMacros ,"OpenCLC10/UpdateNormals.cl");
+
+       delete [] wavefrontMacros;
+
+       if( m_currentCLFunctions->getKernelCompilationFailures()==0)
+       {
+               m_shadersInitialized = true;
+       }
+
+       return m_shadersInitialized;
+}
+
+
+
+
+static Vectormath::Aos::Transform3 toTransform3( const btTransform &transform )
+{
+       Vectormath::Aos::Transform3 outTransform;
+       outTransform.setCol(0, toVector3(transform.getBasis().getColumn(0)));
+       outTransform.setCol(1, toVector3(transform.getBasis().getColumn(1)));
+       outTransform.setCol(2, toVector3(transform.getBasis().getColumn(2)));
+       outTransform.setCol(3, toVector3(transform.getOrigin()));
+       return outTransform;    
+}
+
+
+static void generateBatchesOfWavefronts( btAlignedObjectArray < btAlignedObjectArray <int> > &linksForWavefronts, btSoftBodyLinkData &linkData, int numVertices, btAlignedObjectArray < btAlignedObjectArray <int> > &wavefrontBatches )
+{
+       // A per-batch map of truth values stating whether a given vertex is in that batch
+       // This allows us to significantly optimize the batching
+       btAlignedObjectArray <btAlignedObjectArray<bool> > mapOfVerticesInBatches;
+
+       for( int waveIndex = 0; waveIndex < linksForWavefronts.size(); ++waveIndex )
+       {
+               btAlignedObjectArray <int> &wavefront( linksForWavefronts[waveIndex] );
+
+               int batch = 0;
+               bool placed = false;
+               while( batch < wavefrontBatches.size() && !placed )
+               {
+                       // Test the current batch, see if this wave shares any vertex with the waves in the batch
+                       bool foundSharedVertex = false;
+                       for( int link = 0; link < wavefront.size(); ++link )
+                       {
+                               btSoftBodyLinkData::LinkNodePair vertices = linkData.getVertexPair( wavefront[link] );
+                               if( (mapOfVerticesInBatches[batch])[vertices.vertex0] || (mapOfVerticesInBatches[batch])[vertices.vertex1] )
+                               {
+                                       foundSharedVertex = true;
+                               }
+                       }
+
+                       if( !foundSharedVertex )
+                       {
+                               wavefrontBatches[batch].push_back( waveIndex ); 
+                               // Insert vertices into this batch too
+                               for( int link = 0; link < wavefront.size(); ++link )
+                               {
+                                       btSoftBodyLinkData::LinkNodePair vertices = linkData.getVertexPair( wavefront[link] );
+                                       (mapOfVerticesInBatches[batch])[vertices.vertex0] = true;
+                                       (mapOfVerticesInBatches[batch])[vertices.vertex1] = true;
+                               }
+                               placed = true;
+                       }
+                       batch++;
+               }
+               if( batch == wavefrontBatches.size() && !placed )
+               {
+                       wavefrontBatches.resize( batch + 1 );
+                       wavefrontBatches[batch].push_back( waveIndex );
+
+                       // And resize map as well
+                       mapOfVerticesInBatches.resize( batch + 1 );
+                       
+                       // Resize maps with total number of vertices
+                       mapOfVerticesInBatches[batch].resize( numVertices+1, false );
+
+                       // Insert vertices into this batch too
+                       for( int link = 0; link < wavefront.size(); ++link )
+                       {
+                               btSoftBodyLinkData::LinkNodePair vertices = linkData.getVertexPair( wavefront[link] );
+                               (mapOfVerticesInBatches[batch])[vertices.vertex0] = true;
+                               (mapOfVerticesInBatches[batch])[vertices.vertex1] = true;
+                       }
+               }
+       }
+       mapOfVerticesInBatches.clear();
+}
+
+// Function to remove an object from a vector maintaining correct ordering of the vector
+template< typename T > static void removeFromVector( btAlignedObjectArray< T > &vectorToUpdate, int indexToRemove )
+{
+       int currentSize = vectorToUpdate.size();
+       for( int i = indexToRemove; i < (currentSize-1); ++i )
+       {
+               vectorToUpdate[i] = vectorToUpdate[i+1];
+       }
+       if( currentSize > 0 )
+               vectorToUpdate.resize( currentSize - 1 );
+}
+
+/**
+ * Insert element into vectorToUpdate at index index.
+ */
+template< typename T > static void insertAtIndex( btAlignedObjectArray< T > &vectorToUpdate, int index, T element )
+{
+       vectorToUpdate.resize( vectorToUpdate.size() + 1 );
+       for( int i = (vectorToUpdate.size() - 1); i > index; --i )
+       {
+               vectorToUpdate[i] = vectorToUpdate[i-1];
+       }
+       vectorToUpdate[index] = element;
+}
+
+/** 
+ * Insert into btAlignedObjectArray assuming the array is ordered and maintaining both ordering and uniqueness.
+ * ie it treats vectorToUpdate as an ordered set.
+ */
+template< typename T > static void insertUniqueAndOrderedIntoVector( btAlignedObjectArray<T> &vectorToUpdate, T element )
+{
+       int index = 0;
+       while( index < vectorToUpdate.size() && vectorToUpdate[index] < element )
+       {
+               index++;
+       }
+       if( index == vectorToUpdate.size() || vectorToUpdate[index] != element )
+               insertAtIndex( vectorToUpdate, index, element );
+}
+
+static void generateLinksPerVertex( int numVertices, btSoftBodyLinkData &linkData, btAlignedObjectArray< int > &listOfLinksPerVertex, btAlignedObjectArray <int> &numLinksPerVertex, int &maxLinks )
+{
+       for( int linkIndex = 0; linkIndex < linkData.getNumLinks(); ++linkIndex )
+       {
+               btSoftBodyLinkData::LinkNodePair nodes( linkData.getVertexPair(linkIndex) );
+               numLinksPerVertex[nodes.vertex0]++;
+               numLinksPerVertex[nodes.vertex1]++;
+       }
+       int maxLinksPerVertex = 0;
+       for( int vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex )
+       {
+               maxLinksPerVertex = btMax(numLinksPerVertex[vertexIndex], maxLinksPerVertex);
+       }
+       maxLinks = maxLinksPerVertex;
+
+       btAlignedObjectArray< int > linksFoundPerVertex;
+       linksFoundPerVertex.resize( numVertices, 0 );
+
+       listOfLinksPerVertex.resize( maxLinksPerVertex * numVertices );
+
+       for( int linkIndex = 0; linkIndex < linkData.getNumLinks(); ++linkIndex )
+       {
+               btSoftBodyLinkData::LinkNodePair nodes( linkData.getVertexPair(linkIndex) );
+               {
+                       // Do vertex 0
+                       int vertexIndex = nodes.vertex0;
+                       int linkForVertex = linksFoundPerVertex[nodes.vertex0];
+                       int linkAddress = vertexIndex * maxLinksPerVertex + linkForVertex;
+
+                       listOfLinksPerVertex[linkAddress] = linkIndex;
+
+                       linksFoundPerVertex[nodes.vertex0] = linkForVertex + 1;
+               }
+               {
+                       // Do vertex 1
+                       int vertexIndex = nodes.vertex1;
+                       int linkForVertex = linksFoundPerVertex[nodes.vertex1];
+                       int linkAddress = vertexIndex * maxLinksPerVertex + linkForVertex;
+
+                       listOfLinksPerVertex[linkAddress] = linkIndex;
+
+                       linksFoundPerVertex[nodes.vertex1] = linkForVertex + 1;
+               }
+       }
+}
+
+static void computeBatchingIntoWavefronts( 
+       btSoftBodyLinkData &linkData, 
+       int wavefrontSize, 
+       int linksPerWorkItem, 
+       int maxLinksPerWavefront, 
+       btAlignedObjectArray < btAlignedObjectArray <int> > &linksForWavefronts, 
+       btAlignedObjectArray< btAlignedObjectArray < btAlignedObjectArray <int> > > &batchesWithinWaves, /* wave, batch, links in batch */
+       btAlignedObjectArray< btAlignedObjectArray< int > > &verticesForWavefronts /* wavefront, vertex */
+       )
+{
+       
+
+       // Attempt generation of larger batches of links.
+       btAlignedObjectArray< bool > processedLink;
+       processedLink.resize( linkData.getNumLinks() );
+       btAlignedObjectArray< int > listOfLinksPerVertex;
+       int maxLinksPerVertex = 0;
+
+       // Count num vertices
+       int numVertices = 0;
+       for( int linkIndex = 0; linkIndex < linkData.getNumLinks(); ++linkIndex )
+       {
+               btSoftBodyLinkData::LinkNodePair nodes( linkData.getVertexPair(linkIndex) );
+               numVertices = btMax( numVertices, nodes.vertex0 + 1 );
+               numVertices = btMax( numVertices, nodes.vertex1 + 1 );
+       }
+
+       // Need list of links per vertex
+       // Compute valence of each vertex
+       btAlignedObjectArray <int> numLinksPerVertex;
+       numLinksPerVertex.resize(0);
+       numLinksPerVertex.resize( numVertices, 0 );
+
+       generateLinksPerVertex( numVertices, linkData, listOfLinksPerVertex, numLinksPerVertex, maxLinksPerVertex );
+
+       if (!numVertices)
+               return;
+
+       for( int vertex = 0; vertex < 10; ++vertex )
+       {
+               for( int link = 0; link < numLinksPerVertex[vertex]; ++link )
+               {
+                       int linkAddress = vertex * maxLinksPerVertex + link;
+               }
+       }
+
+
+       // At this point we know what links we have for each vertex so we can start batching
+       
+       // We want a vertex to start with, let's go with 0
+       int currentVertex = 0;
+       int linksProcessed = 0;
+
+       btAlignedObjectArray <int> verticesToProcess;
+
+       while( linksProcessed < linkData.getNumLinks() )
+       {
+               // Next wavefront
+               int nextWavefront = linksForWavefronts.size();
+               linksForWavefronts.resize( nextWavefront + 1 );
+               btAlignedObjectArray <int> &linksForWavefront(linksForWavefronts[nextWavefront]);
+               verticesForWavefronts.resize( nextWavefront + 1 );
+               btAlignedObjectArray<int> &vertexSet( verticesForWavefronts[nextWavefront] );
+
+               linksForWavefront.resize(0);
+
+               // Loop to find enough links to fill the wavefront
+               // Stopping if we either run out of links, or fill it
+               while( linksProcessed < linkData.getNumLinks() && linksForWavefront.size() < maxLinksPerWavefront )
+               {
+                       // Go through the links for the current vertex
+                       for( int link = 0; link < numLinksPerVertex[currentVertex] && linksForWavefront.size() < maxLinksPerWavefront; ++link )
+                       {
+                               int linkAddress = currentVertex * maxLinksPerVertex + link;
+                               int linkIndex = listOfLinksPerVertex[linkAddress];
+                               
+                               // If we have not already processed this link, add it to the wavefront
+                               // Claim it as another processed link
+                               // Add the vertex at the far end to the list of vertices to process.
+                               if( !processedLink[linkIndex] )
+                               {
+                                       linksForWavefront.push_back( linkIndex );
+                                       linksProcessed++;
+                                       processedLink[linkIndex] = true;
+                                       int v0 = linkData.getVertexPair(linkIndex).vertex0;
+                                       int v1 = linkData.getVertexPair(linkIndex).vertex1;
+                                       if( v0 == currentVertex )
+                                               verticesToProcess.push_back( v1 );
+                                       else
+                                               verticesToProcess.push_back( v0 );
+                               }
+                       }
+                       if( verticesToProcess.size() > 0 )
+                       {
+                               // Get the element on the front of the queue and remove it
+                               currentVertex = verticesToProcess[0];
+                               removeFromVector( verticesToProcess, 0 );
+                       } else {                
+                               // If we've not yet processed all the links, find the first unprocessed one
+                               // and select one of its vertices as the current vertex
+                               if( linksProcessed < linkData.getNumLinks() )
+                               {
+                                       int searchLink = 0;
+                                       while( processedLink[searchLink] )
+                                               searchLink++;
+                                       currentVertex = linkData.getVertexPair(searchLink).vertex0;
+                               }       
+                       }
+               }
+
+               // We have either finished or filled a wavefront
+               for( int link = 0; link < linksForWavefront.size(); ++link )
+               {
+                       int v0 = linkData.getVertexPair( linksForWavefront[link] ).vertex0;
+                       int v1 = linkData.getVertexPair( linksForWavefront[link] ).vertex1;
+                       insertUniqueAndOrderedIntoVector( vertexSet, v0 );
+                       insertUniqueAndOrderedIntoVector( vertexSet, v1 );
+               }
+               // Iterate over links mapped to the wave and batch those
+               // We can run a batch on each cycle trivially
+               
+               batchesWithinWaves.resize( batchesWithinWaves.size() + 1 );
+               btAlignedObjectArray < btAlignedObjectArray <int> > &batchesWithinWave( batchesWithinWaves[batchesWithinWaves.size()-1] );
+               
+
+               for( int link = 0; link < linksForWavefront.size(); ++link )
+               {
+                       int linkIndex = linksForWavefront[link];
+                       btSoftBodyLinkData::LinkNodePair vertices = linkData.getVertexPair( linkIndex );
+                       
+                       int batch = 0;
+                       bool placed = false;
+                       while( batch < batchesWithinWave.size() && !placed )
+                       {
+                               bool foundSharedVertex = false;
+                               if( batchesWithinWave[batch].size() >= wavefrontSize )
+                               {
+                                       // If we have already filled this batch, move on to another
+                                       foundSharedVertex = true;
+                               } else {
+                                       for( int link2 = 0; link2 < batchesWithinWave[batch].size(); ++link2 )
+                                       {
+                                               btSoftBodyLinkData::LinkNodePair vertices2 = linkData.getVertexPair( (batchesWithinWave[batch])[link2] );
+
+                                               if( vertices.vertex0 == vertices2.vertex0 ||
+                                                       vertices.vertex1 == vertices2.vertex0 ||
+                                                       vertices.vertex0 == vertices2.vertex1 ||
+                                                       vertices.vertex1 == vertices2.vertex1 )
+                                               {
+                                                       foundSharedVertex = true;
+                                                       break;
+                                               }
+                                       }
+                               }
+                               if( !foundSharedVertex )
+                               {
+                                       batchesWithinWave[batch].push_back( linkIndex );
+                                       placed = true;
+                               } else {
+                                       ++batch;
+                               }
+                       }
+                       if( batch == batchesWithinWave.size() && !placed )
+                       {
+                               batchesWithinWave.resize( batch + 1 );
+                               batchesWithinWave[batch].push_back( linkIndex );
+                       }
+               }
+               
+       }
+
+}
+
+void btSoftBodyLinkDataOpenCLSIMDAware::generateBatches()
+{
+       btAlignedObjectArray < btAlignedObjectArray <int> > linksForWavefronts;
+       btAlignedObjectArray < btAlignedObjectArray <int> > wavefrontBatches;
+       btAlignedObjectArray< btAlignedObjectArray < btAlignedObjectArray <int> > > batchesWithinWaves;
+       btAlignedObjectArray< btAlignedObjectArray< int > > verticesForWavefronts; // wavefronts, vertices in wavefront as an ordered set
+
+       // Group the links into wavefronts
+       computeBatchingIntoWavefronts( *this, m_wavefrontSize, m_linksPerWorkItem, m_maxLinksPerWavefront, linksForWavefronts, batchesWithinWaves, verticesForWavefronts );
+
+
+       // Batch the wavefronts
+       generateBatchesOfWavefronts( linksForWavefronts, *this, m_maxVertex, wavefrontBatches );
+
+       m_numWavefronts = linksForWavefronts.size();
+
+       // At this point we have a description of which links we need to process in each wavefront
+
+       // First correctly fill the batch ranges vector
+       int numBatches = wavefrontBatches.size();
+       m_wavefrontBatchStartLengths.resize(0);
+       int prefixSum = 0;
+       for( int batchIndex = 0; batchIndex < numBatches; ++batchIndex )
+       {
+               int wavesInBatch = wavefrontBatches[batchIndex].size();
+               int nextPrefixSum = prefixSum + wavesInBatch;
+               m_wavefrontBatchStartLengths.push_back( BatchPair( prefixSum, nextPrefixSum - prefixSum ) );
+
+               prefixSum += wavesInBatch;
+       }
+       
+       // Also find max number of batches within a wave
+       m_maxBatchesWithinWave = 0;
+       m_maxVerticesWithinWave = 0;
+       m_numBatchesAndVerticesWithinWaves.resize( m_numWavefronts );
+       for( int waveIndex = 0; waveIndex < m_numWavefronts; ++waveIndex )
+       {
+               // See if the number of batches in this wave is greater than the current maxium
+               int batchesInCurrentWave = batchesWithinWaves[waveIndex].size();
+               int verticesInCurrentWave = verticesForWavefronts[waveIndex].size();
+               m_maxBatchesWithinWave = btMax( batchesInCurrentWave, m_maxBatchesWithinWave );
+               m_maxVerticesWithinWave = btMax( verticesInCurrentWave, m_maxVerticesWithinWave );
+       }
+       
+       // Add padding values both for alignment and as dudd addresses within LDS to compute junk rather than branch around
+       m_maxVerticesWithinWave = 16*((m_maxVerticesWithinWave/16)+2);
+
+       // Now we know the maximum number of vertices per-wave we can resize the global vertices array
+       m_wavefrontVerticesGlobalAddresses.resize( m_maxVerticesWithinWave * m_numWavefronts );
+
+       // Grab backup copies of all the link data arrays for the sorting process
+       btAlignedObjectArray<btSoftBodyLinkData::LinkNodePair>                          m_links_Backup(m_links);
+       btAlignedObjectArray<float>                                                                                     m_linkStrength_Backup(m_linkStrength);
+       btAlignedObjectArray<float>                                                                                     m_linksMassLSC_Backup(m_linksMassLSC);
+       btAlignedObjectArray<float>                                                                                     m_linksRestLengthSquared_Backup(m_linksRestLengthSquared);
+       //btAlignedObjectArray<Vectormath::Aos::Vector3>                                                m_linksCLength_Backup(m_linksCLength);
+       //btAlignedObjectArray<float>                                                                                   m_linksLengthRatio_Backup(m_linksLengthRatio);
+       btAlignedObjectArray<float>                                                                                     m_linksRestLength_Backup(m_linksRestLength);
+       btAlignedObjectArray<float>                                                                                     m_linksMaterialLinearStiffnessCoefficient_Backup(m_linksMaterialLinearStiffnessCoefficient);
+
+       // Resize to a wavefront sized batch per batch per wave so we get perfectly coherent memory accesses.
+       m_links.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts );
+       m_linkVerticesLocalAddresses.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts );
+       m_linkStrength.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts );
+       m_linksMassLSC.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts );
+       m_linksRestLengthSquared.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts );
+       m_linksRestLength.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts );
+       m_linksMaterialLinearStiffnessCoefficient.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts ); 
+               
+       // Then re-order links into wavefront blocks
+
+       // Total number of wavefronts moved. This will decide the ordering of sorted wavefronts.
+       int wavefrontCount = 0;
+
+       // Iterate over batches of wavefronts, then wavefronts in the batch
+       for( int batchIndex = 0; batchIndex < numBatches; ++batchIndex )
+       {
+               btAlignedObjectArray <int> &batch( wavefrontBatches[batchIndex] );
+               int wavefrontsInBatch = batch.size();
+
+               
+               for( int wavefrontIndex = 0; wavefrontIndex < wavefrontsInBatch; ++wavefrontIndex )
+               {       
+
+                       int originalWavefrontIndex = batch[wavefrontIndex];
+                       btAlignedObjectArray< int > &wavefrontVertices( verticesForWavefronts[originalWavefrontIndex] );
+                       int verticesUsedByWavefront = wavefrontVertices.size();
+
+                       // Copy the set of vertices into the correctly structured array for use on the device
+                       // Fill the non-vertices with -1s
+                       // so we can mask out those reads
+                       for( int vertex = 0; vertex < verticesUsedByWavefront; ++vertex )
+                       {
+                               m_wavefrontVerticesGlobalAddresses[m_maxVerticesWithinWave * wavefrontCount + vertex] = wavefrontVertices[vertex];
+                       }
+                       for( int vertex = verticesUsedByWavefront; vertex < m_maxVerticesWithinWave; ++vertex )
+                       {
+                               m_wavefrontVerticesGlobalAddresses[m_maxVerticesWithinWave * wavefrontCount + vertex] = -1;
+                       }
+
+                       // Obtain the set of batches within the current wavefront
+                       btAlignedObjectArray < btAlignedObjectArray <int> > &batchesWithinWavefront( batchesWithinWaves[originalWavefrontIndex] );
+                       // Set the size of the batches for use in the solver, correctly ordered
+                       NumBatchesVerticesPair batchesAndVertices;
+                       batchesAndVertices.numBatches = batchesWithinWavefront.size();
+                       batchesAndVertices.numVertices = verticesUsedByWavefront;
+                       m_numBatchesAndVerticesWithinWaves[wavefrontCount] = batchesAndVertices;
+                       
+
+                       // Now iterate over batches within the wavefront to structure the links correctly
+                       for( int wavefrontBatch = 0; wavefrontBatch < batchesWithinWavefront.size(); ++wavefrontBatch )
+                       {
+                               btAlignedObjectArray <int> &linksInBatch( batchesWithinWavefront[wavefrontBatch] );
+                               int wavefrontBatchSize = linksInBatch.size();
+
+                               int batchAddressInTarget = m_maxBatchesWithinWave * m_wavefrontSize * wavefrontCount + m_wavefrontSize * wavefrontBatch;
+
+                               for( int linkIndex = 0; linkIndex < wavefrontBatchSize; ++linkIndex )
+                               {
+                                       int originalLinkAddress = linksInBatch[linkIndex];
+                                       // Reorder simple arrays trivially
+                                       m_links[batchAddressInTarget + linkIndex] = m_links_Backup[originalLinkAddress];
+                                       m_linkStrength[batchAddressInTarget + linkIndex] = m_linkStrength_Backup[originalLinkAddress];
+                                       m_linksMassLSC[batchAddressInTarget + linkIndex] = m_linksMassLSC_Backup[originalLinkAddress];
+                                       m_linksRestLengthSquared[batchAddressInTarget + linkIndex] = m_linksRestLengthSquared_Backup[originalLinkAddress];
+                                       m_linksRestLength[batchAddressInTarget + linkIndex] = m_linksRestLength_Backup[originalLinkAddress];
+                                       m_linksMaterialLinearStiffnessCoefficient[batchAddressInTarget + linkIndex] = m_linksMaterialLinearStiffnessCoefficient_Backup[originalLinkAddress];
+
+                                       // The local address is more complicated. We need to work out where a given vertex will end up
+                                       // by searching the set of vertices for this link and using the index as the local address
+                                       btSoftBodyLinkData::LinkNodePair localPair;
+                                       btSoftBodyLinkData::LinkNodePair globalPair = m_links[batchAddressInTarget + linkIndex];
+                                       localPair.vertex0 = wavefrontVertices.findLinearSearch( globalPair.vertex0 );
+                                       localPair.vertex1 = wavefrontVertices.findLinearSearch( globalPair.vertex1 );
+                                       m_linkVerticesLocalAddresses[batchAddressInTarget + linkIndex] = localPair;
+                               }
+                               for( int linkIndex = wavefrontBatchSize; linkIndex < m_wavefrontSize; ++linkIndex )
+                               {
+                                       // Put 0s into these arrays for padding for cleanliness
+                                       m_links[batchAddressInTarget + linkIndex] = btSoftBodyLinkData::LinkNodePair(0, 0);
+                                       m_linkStrength[batchAddressInTarget + linkIndex] = 0.f;
+                                       m_linksMassLSC[batchAddressInTarget + linkIndex] = 0.f;
+                                       m_linksRestLengthSquared[batchAddressInTarget + linkIndex] = 0.f;
+                                       m_linksRestLength[batchAddressInTarget + linkIndex] = 0.f;
+                                       m_linksMaterialLinearStiffnessCoefficient[batchAddressInTarget + linkIndex] = 0.f;
+
+
+                                       // For local addresses of junk data choose a set of addresses just above the range of valid ones 
+                                       // and cycling tyhrough % 16 so that we don't have bank conficts between all dud addresses
+                                       // The valid addresses will do scatter and gather in the valid range, the junk ones should happily work
+                                       // off the end of that range so we need no control
+                                       btSoftBodyLinkData::LinkNodePair localPair;
+                                       localPair.vertex0 = verticesUsedByWavefront + (linkIndex % 16);
+                                       localPair.vertex1 = verticesUsedByWavefront + (linkIndex % 16);
+                                       m_linkVerticesLocalAddresses[batchAddressInTarget + linkIndex] = localPair;
+                               }
+
+                       }
+
+                       
+                       wavefrontCount++;
+               }
+
+       
+       }
+
+} // void btSoftBodyLinkDataDX11SIMDAware::generateBatches()
+
+
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCLSIMDAware.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCLSIMDAware.h
new file mode 100644 (file)
index 0000000..8cd838a
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCLSIMDAware.h
@@ -0,0 +1,81 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_SOFT_BODY_SOLVER_OPENCL_SIMDAWARE_H
+#define BT_SOFT_BODY_SOLVER_OPENCL_SIMDAWARE_H
+
+#include "stddef.h" //for size_t
+#include "vectormath/vmInclude.h"
+
+#include "btSoftBodySolver_OpenCL.h"
+#include "btSoftBodySolverBuffer_OpenCL.h"
+#include "btSoftBodySolverLinkData_OpenCLSIMDAware.h"
+#include "btSoftBodySolverVertexData_OpenCL.h"
+#include "btSoftBodySolverTriangleData_OpenCL.h"
+
+
+
+
+
+class btOpenCLSoftBodySolverSIMDAware : public btOpenCLSoftBodySolver
+{
+protected:
+       
+
+       btSoftBodyLinkDataOpenCLSIMDAware m_linkData;
+
+
+
+
+       virtual bool buildShaders();
+
+
+       void updateConstants( float timeStep );
+
+       float computeTriangleArea( 
+               const Vectormath::Aos::Point3 &vertex0,
+               const Vectormath::Aos::Point3 &vertex1,
+               const Vectormath::Aos::Point3 &vertex2 );
+
+
+       //////////////////////////////////////
+       // Kernel dispatches
+       void solveLinksForPosition( int startLink, int numLinks, float kst, float ti );
+       
+       void solveCollisionsAndUpdateVelocities( float isolverdt );
+       // End kernel dispatches
+       /////////////////////////////////////
+
+public:
+       btOpenCLSoftBodySolverSIMDAware(cl_command_queue queue,cl_context       ctx, bool bUpdateAchchoredNodePos = false);
+
+       virtual ~btOpenCLSoftBodySolverSIMDAware();
+
+       virtual SolverTypes getSolverType() const
+       {
+               return CL_SIMD_SOLVER;
+       }
+
+
+       virtual btSoftBodyLinkData &getLinkData();
+
+
+       virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies , bool forceUpdate=false);
+
+       virtual void solveConstraints( float solverdt );
+
+}; // btOpenCLSoftBodySolverSIMDAware
+
+#endif // #ifndef BT_SOFT_BODY_SOLVER_OPENCL_SIMDAWARE_H

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/cmake_install.cmake b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/cmake_install.cmake
new file mode 100644 (file)
index 0000000..0f46de4
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/cmake_install.cmake
@@ -0,0 +1,35 @@
+# Install script for directory: /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/usr/local")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  IF(BUILD_TYPE)
+    STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  ELSE(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "Release")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+IF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+  # Include the install script for each subdirectory.
+  INCLUDE("/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/cmake_install.cmake")
+
+ENDIF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h
new file mode 100644 (file)
index 0000000..ab6721f
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h
@@ -0,0 +1,748 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_SOFT_BODY_SOLVER_DATA_H
+#define BT_SOFT_BODY_SOLVER_DATA_H
+
+#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
+#include "vectormath/vmInclude.h"
+
+
+class btSoftBodyLinkData
+{
+public:
+       /**
+        * Class representing a link as a set of three indices into the vertex array.
+        */
+       class LinkNodePair
+       {
+       public:
+               int vertex0;
+               int vertex1;
+
+               LinkNodePair()
+               {
+                       vertex0 = 0;
+                       vertex1 = 0;
+               }
+
+               LinkNodePair( int v0, int v1 )
+               {
+                       vertex0 = v0;
+                       vertex1 = v1;
+               }
+       };
+
+       /**
+        * Class describing a link for input into the system.
+        */
+       class LinkDescription
+       {
+       protected:
+               int m_vertex0;
+               int m_vertex1;
+               float m_linkLinearStiffness;
+               float m_linkStrength;
+
+       public:
+
+               LinkDescription()
+               {
+                       m_vertex0 = 0;
+                       m_vertex1 = 0;
+                       m_linkLinearStiffness = 1.0;
+                       m_linkStrength = 1.0;
+               }
+
+               LinkDescription( int newVertex0, int newVertex1, float linkLinearStiffness )
+               {
+                       m_vertex0 = newVertex0;
+                       m_vertex1 = newVertex1;
+                       m_linkLinearStiffness = linkLinearStiffness;
+                       m_linkStrength = 1.0;
+               }
+
+               LinkNodePair getVertexPair() const
+               {
+                       LinkNodePair nodes;
+                       nodes.vertex0 = m_vertex0;
+                       nodes.vertex1 = m_vertex1;
+                       return nodes;
+               }
+
+               void setVertex0( int vertex )
+               {
+                       m_vertex0 = vertex;
+               }
+
+               void setVertex1( int vertex )
+               {
+                       m_vertex1 = vertex;
+               }
+
+               void setLinkLinearStiffness( float linearStiffness )
+               {
+                       m_linkLinearStiffness = linearStiffness;
+               }
+
+               void setLinkStrength( float strength )
+               {
+                       m_linkStrength = strength;
+               }
+
+               int getVertex0() const
+               {
+                       return m_vertex0;
+               }
+
+               int getVertex1() const
+               {
+                       return m_vertex1;
+               }
+
+               float getLinkStrength() const
+               {
+                       return m_linkStrength;
+               }
+
+               float getLinkLinearStiffness() const
+               {
+                       return m_linkLinearStiffness;
+               }
+       };
+
+
+protected:
+       // NOTE:
+       // Vertex reference data is stored relative to global array, not relative to individual cloth.
+       // Values must be correct if being passed into single-cloth VBOs or when migrating from one solver
+       // to another.
+
+       btAlignedObjectArray< LinkNodePair > m_links; // Vertex pair for the link
+       btAlignedObjectArray< float >                                                           m_linkStrength; // Strength of each link
+       // (inverseMassA + inverseMassB)/ linear stiffness coefficient
+       btAlignedObjectArray< float >                                                           m_linksMassLSC; 
+       btAlignedObjectArray< float >                                                           m_linksRestLengthSquared; 
+       // Current vector length of link
+       btAlignedObjectArray< Vectormath::Aos::Vector3 >                        m_linksCLength;
+       // 1/(current length * current length * massLSC)
+       btAlignedObjectArray< float >                                                           m_linksLengthRatio; 
+       btAlignedObjectArray< float >                                                           m_linksRestLength;
+       btAlignedObjectArray< float >                                                           m_linksMaterialLinearStiffnessCoefficient;
+
+public:
+       btSoftBodyLinkData()
+       {
+       }
+
+       virtual ~btSoftBodyLinkData()
+       {
+       }
+
+       virtual void clear()
+       {
+               m_links.resize(0);
+               m_linkStrength.resize(0);
+               m_linksMassLSC.resize(0);
+               m_linksRestLengthSquared.resize(0);
+               m_linksLengthRatio.resize(0);
+               m_linksRestLength.resize(0);
+               m_linksMaterialLinearStiffnessCoefficient.resize(0);
+       }
+
+       int getNumLinks()
+       {
+               return m_links.size();
+       }
+
+       /** Allocate enough space in all link-related arrays to fit numLinks links */
+       virtual void createLinks( int numLinks )
+       {
+               int previousSize = m_links.size();
+               int newSize = previousSize + numLinks;
+
+               // Resize all the arrays that store link data
+               m_links.resize( newSize );
+               m_linkStrength.resize( newSize );
+               m_linksMassLSC.resize( newSize );
+               m_linksRestLengthSquared.resize( newSize );
+               m_linksCLength.resize( newSize );
+               m_linksLengthRatio.resize( newSize );
+               m_linksRestLength.resize( newSize );
+               m_linksMaterialLinearStiffnessCoefficient.resize( newSize );
+       }
+       
+       /** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */
+       virtual void setLinkAt( const LinkDescription &link, int linkIndex )
+       {
+               m_links[linkIndex] = link.getVertexPair();
+               m_linkStrength[linkIndex] = link.getLinkStrength();
+               m_linksMassLSC[linkIndex] = 0.f;
+               m_linksRestLengthSquared[linkIndex] = 0.f;
+               m_linksCLength[linkIndex] = Vectormath::Aos::Vector3(0.f, 0.f, 0.f);
+               m_linksLengthRatio[linkIndex] = 0.f;
+               m_linksRestLength[linkIndex] = 0.f;
+               m_linksMaterialLinearStiffnessCoefficient[linkIndex] = link.getLinkLinearStiffness();
+       }
+
+
+       /**
+        * Return true if data is on the accelerator.
+        * The CPU version of this class will return true here because
+        * the CPU is the same as the accelerator.
+        */
+       virtual bool onAccelerator()
+       {
+               return true;
+       }
+       
+       /**
+        * Move data from host memory to the accelerator.
+        * The CPU version will always return that it has moved it.
+        */
+       virtual bool moveToAccelerator()
+       {
+               return true;
+       }
+
+       /**
+        * Move data from host memory from the accelerator.
+        * The CPU version will always return that it has moved it.
+        */
+       virtual bool moveFromAccelerator()
+       {
+               return true;
+       }
+
+
+
+       /**
+        * Return reference to the vertex index pair for link linkIndex as stored on the host.
+        */
+       LinkNodePair &getVertexPair( int linkIndex )
+       {
+               return m_links[linkIndex];
+       }
+
+       /** 
+        * Return reference to strength of link linkIndex as stored on the host.
+        */
+       float &getStrength( int linkIndex )
+       {
+               return m_linkStrength[linkIndex];
+       }
+
+       /**
+        * Return a reference to the strength of the link corrected for link sorting.
+        * This is important if we are using data on an accelerator which has the data sorted in some fashion.
+        */
+       virtual float &getStrengthCorrected( int linkIndex )
+       {
+               return getStrength( linkIndex );
+       }
+
+       /**
+        * Return reference to the rest length of link linkIndex as stored on the host.
+        */
+       float &getRestLength( int linkIndex )
+       {
+               return m_linksRestLength[linkIndex];
+       }
+
+       /**
+        * Return reference to linear stiffness coefficient for link linkIndex as stored on the host.
+        */
+       float &getLinearStiffnessCoefficient( int linkIndex )
+       {
+               return m_linksMaterialLinearStiffnessCoefficient[linkIndex];
+       }
+
+       /**
+        * Return reference to the MassLSC value for link linkIndex as stored on the host.
+        */
+       float &getMassLSC( int linkIndex )
+       {
+               return m_linksMassLSC[linkIndex];
+       }
+
+       /**
+        * Return reference to rest length squared for link linkIndex as stored on the host.
+        */
+       float &getRestLengthSquared( int linkIndex )
+       {
+               return m_linksRestLengthSquared[linkIndex];
+       }
+
+       /**
+        * Return reference to current length of link linkIndex as stored on the host.
+        */
+       Vectormath::Aos::Vector3 &getCurrentLength( int linkIndex )
+       {
+               return m_linksCLength[linkIndex];
+       }
+
+        /**
+         * Return the link length ratio from for link linkIndex as stored on the host.
+         */
+        float &getLinkLengthRatio( int linkIndex )
+        {
+                return m_linksLengthRatio[linkIndex];
+        }
+};
+
+
+
+/**
+ * Wrapper for vertex data information.
+ * By wrapping it like this we stand a good chance of being able to optimise for storage format easily.
+ * It should also help us make sure all the data structures remain consistent.
+ */
+class btSoftBodyVertexData
+{
+public:
+       /**
+        * Class describing a vertex for input into the system.
+        */
+       class VertexDescription
+       {
+       private:
+               Vectormath::Aos::Point3 m_position;
+               /** Inverse mass. If this is 0f then the mass was 0 because that simplifies calculations. */
+               float m_inverseMass;
+
+       public:
+               VertexDescription()
+               {       
+                       m_position = Vectormath::Aos::Point3( 0.f, 0.f, 0.f );
+                       m_inverseMass = 0.f;
+               }
+
+               VertexDescription( const Vectormath::Aos::Point3 &position, float mass )
+               {
+                       m_position = position;
+                       if( mass > 0.f )
+                               m_inverseMass = 1.0f/mass;
+                       else
+                               m_inverseMass = 0.f;
+               }
+
+               void setPosition( const Vectormath::Aos::Point3 &position )
+               {
+                       m_position = position;
+               }
+
+               void setInverseMass( float inverseMass )
+               {
+                       m_inverseMass = inverseMass;
+               }
+
+               void setMass( float mass )
+               {
+                       if( mass > 0.f )
+                               m_inverseMass = 1.0f/mass;
+                       else
+                               m_inverseMass = 0.f;
+               }
+
+               Vectormath::Aos::Point3 getPosition() const
+               {
+                       return m_position;
+               }
+
+               float getInverseMass() const
+               {
+                       return m_inverseMass;
+               }
+
+               float getMass() const
+               {
+                       if( m_inverseMass == 0.f )
+                               return 0.f;
+                       else
+                               return 1.0f/m_inverseMass;
+               }
+       };
+protected:
+
+       // identifier for the individual cloth
+       // For the CPU we don't really need this as we can grab the cloths and iterate over only their vertices
+       // For a parallel accelerator knowing on a per-vertex basis which cloth we're part of will help for obtaining
+       // per-cloth data
+       // For sorting etc it might also be helpful to be able to use in-array data such as this.
+       btAlignedObjectArray< int >                                                     m_clothIdentifier;
+       btAlignedObjectArray< Vectormath::Aos::Point3 >         m_vertexPosition;                       // vertex positions
+       btAlignedObjectArray< Vectormath::Aos::Point3 >         m_vertexPreviousPosition;       // vertex positions
+       btAlignedObjectArray< Vectormath::Aos::Vector3 >        m_vertexVelocity;                       // Velocity
+       btAlignedObjectArray< Vectormath::Aos::Vector3 >        m_vertexForceAccumulator;       // Force accumulator
+       btAlignedObjectArray< Vectormath::Aos::Vector3 >        m_vertexNormal;                         // Normals
+       btAlignedObjectArray< float >                                           m_vertexInverseMass;            // Inverse mass
+       btAlignedObjectArray< float >                                           m_vertexArea;                           // Area controlled by the vertex
+       btAlignedObjectArray< int >                                                     m_vertexTriangleCount;          // Number of triangles touching this vertex
+
+public:
+       btSoftBodyVertexData()
+       {
+       }
+
+       virtual ~btSoftBodyVertexData()
+       {
+       }
+
+       virtual void clear()
+       {
+               m_clothIdentifier.resize(0);
+               m_vertexPosition.resize(0);
+               m_vertexPreviousPosition.resize(0);
+               m_vertexVelocity.resize(0);
+               m_vertexForceAccumulator.resize(0);
+               m_vertexNormal.resize(0);
+               m_vertexInverseMass.resize(0);
+               m_vertexArea.resize(0);
+               m_vertexTriangleCount.resize(0);
+       }
+
+       int getNumVertices()
+       {
+               return m_vertexPosition.size();
+       }
+
+       int getClothIdentifier( int vertexIndex )
+       {
+               return m_clothIdentifier[vertexIndex];
+       }
+
+       void setVertexAt( const VertexDescription &vertex, int vertexIndex )
+       {
+               m_vertexPosition[vertexIndex] = vertex.getPosition();
+               m_vertexPreviousPosition[vertexIndex] = vertex.getPosition();
+               m_vertexVelocity[vertexIndex] = Vectormath::Aos::Vector3(0.f, 0.f, 0.f);
+               m_vertexForceAccumulator[vertexIndex] = Vectormath::Aos::Vector3(0.f, 0.f, 0.f);
+               m_vertexNormal[vertexIndex] = Vectormath::Aos::Vector3(0.f, 0.f, 0.f);
+               m_vertexInverseMass[vertexIndex] = vertex.getInverseMass();
+               m_vertexArea[vertexIndex] = 0.f;
+               m_vertexTriangleCount[vertexIndex] = 0;
+       }
+
+       /** 
+        * Create numVertices new vertices for cloth clothIdentifier 
+        * maxVertices allows a buffer zone of extra vertices for alignment or tearing reasons.
+        */
+       void createVertices( int numVertices, int clothIdentifier, int maxVertices = 0 )
+       {
+               int previousSize = m_vertexPosition.size();
+               if( maxVertices == 0 )
+                       maxVertices = numVertices;
+               int newSize = previousSize + maxVertices;
+
+               // Resize all the arrays that store vertex data
+               m_clothIdentifier.resize( newSize );
+               m_vertexPosition.resize( newSize );
+               m_vertexPreviousPosition.resize( newSize );
+               m_vertexVelocity.resize( newSize );
+               m_vertexForceAccumulator.resize( newSize );
+               m_vertexNormal.resize( newSize );
+               m_vertexInverseMass.resize( newSize );
+               m_vertexArea.resize( newSize );
+               m_vertexTriangleCount.resize( newSize );
+
+               for( int vertexIndex = previousSize; vertexIndex < newSize; ++vertexIndex )
+                       m_clothIdentifier[vertexIndex] = clothIdentifier;
+               for( int vertexIndex = (previousSize + numVertices); vertexIndex < newSize; ++vertexIndex )
+                       m_clothIdentifier[vertexIndex] = -1;
+       }
+
+       // Get and set methods in header so they can be inlined
+
+       /**
+        * Return a reference to the position of vertex vertexIndex as stored on the host.
+        */
+       Vectormath::Aos::Point3 &getPosition( int vertexIndex )
+       {
+               return m_vertexPosition[vertexIndex];
+       }
+
+       Vectormath::Aos::Point3 getPosition( int vertexIndex ) const
+       {
+               return m_vertexPosition[vertexIndex];
+       }
+
+       /**
+        * Return a reference to the previous position of vertex vertexIndex as stored on the host.
+        */
+       Vectormath::Aos::Point3 &getPreviousPosition( int vertexIndex )
+       {
+               return m_vertexPreviousPosition[vertexIndex];
+       }
+
+       /**
+        * Return a reference to the velocity of vertex vertexIndex as stored on the host.
+        */
+       Vectormath::Aos::Vector3 &getVelocity( int vertexIndex )
+       {
+               return m_vertexVelocity[vertexIndex];
+       }
+
+       /**
+        * Return a reference to the force accumulator of vertex vertexIndex as stored on the host.
+        */
+       Vectormath::Aos::Vector3 &getForceAccumulator( int vertexIndex )
+       {
+               return m_vertexForceAccumulator[vertexIndex];
+       }
+
+       /**
+        * Return a reference to the normal of vertex vertexIndex as stored on the host.
+        */
+       Vectormath::Aos::Vector3 &getNormal( int vertexIndex )
+       {
+               return m_vertexNormal[vertexIndex];
+       }
+
+       Vectormath::Aos::Vector3 getNormal( int vertexIndex ) const
+       {
+               return m_vertexNormal[vertexIndex];
+       }
+
+       /**
+        * Return a reference to the inverse mass of vertex vertexIndex as stored on the host.
+        */
+       float &getInverseMass( int vertexIndex )
+       {
+               return m_vertexInverseMass[vertexIndex];
+       }
+
+       /**
+        * Get access to the area controlled by this vertex.
+        */
+       float &getArea( int vertexIndex )
+       {
+               return m_vertexArea[vertexIndex];
+       }
+
+       /**
+        * Get access to the array of how many triangles touch each vertex.
+        */
+       int &getTriangleCount( int vertexIndex )
+       {
+               return m_vertexTriangleCount[vertexIndex];
+       }
+
+
+
+       /**
+        * Return true if data is on the accelerator.
+        * The CPU version of this class will return true here because
+        * the CPU is the same as the accelerator.
+        */
+       virtual bool onAccelerator()
+       {
+               return true;
+       }
+       
+       /**
+        * Move data from host memory to the accelerator.
+        * The CPU version will always return that it has moved it.
+        */
+       virtual bool moveToAccelerator()
+       {
+               return true;
+       }
+
+       /**
+        * Move data to host memory from the accelerator if bCopy is false.
+        * If bCopy is true, copy data to host memory from the accelerator so that data 
+        * won't be moved to accelerator when moveToAccelerator() is called next time. 
+        * If bCopyMinimum is true, only vertex position and normal are copied.
+        * bCopyMinimum will be meaningful only if bCopy is true.
+        * The CPU version will always return that it has moved it.
+        */
+       virtual bool moveFromAccelerator(bool bCopy = false, bool bCopyMinimum = true)
+       {
+               return true;
+       }
+
+       btAlignedObjectArray< Vectormath::Aos::Point3 > &getVertexPositions()
+       {
+               return m_vertexPosition;
+       }
+};
+
+
+class btSoftBodyTriangleData
+{
+public:
+       /**
+        * Class representing a triangle as a set of three indices into the
+        * vertex array.
+        */
+       class TriangleNodeSet
+       {
+       public:
+               int vertex0;
+               int vertex1;
+               int vertex2;
+               int _padding;
+
+               TriangleNodeSet( )
+               {
+                       vertex0 = 0;
+                       vertex1 = 0;
+                       vertex2 = 0;
+                       _padding = -1;
+               }
+
+               TriangleNodeSet( int newVertex0, int newVertex1, int newVertex2 )
+               {
+                       vertex0 = newVertex0;
+                       vertex1 = newVertex1;
+                       vertex2 = newVertex2;
+               }
+       };
+
+       class TriangleDescription
+       {
+       protected:
+               int m_vertex0;
+               int m_vertex1;
+               int m_vertex2;
+
+       public:
+               TriangleDescription()
+               {
+                       m_vertex0 = 0;
+                       m_vertex1 = 0;
+                       m_vertex2 = 0;
+               }
+
+               TriangleDescription( int newVertex0, int newVertex1, int newVertex2 )
+               {
+                       m_vertex0 = newVertex0;
+                       m_vertex1 = newVertex1;
+                       m_vertex2 = newVertex2;
+               }
+
+               TriangleNodeSet getVertexSet() const
+               {
+                       btSoftBodyTriangleData::TriangleNodeSet nodes;
+                       nodes.vertex0 = m_vertex0;
+                       nodes.vertex1 = m_vertex1;
+                       nodes.vertex2 = m_vertex2;
+                       return nodes;
+               }
+       };
+
+protected:
+       // NOTE:
+       // Vertex reference data is stored relative to global array, not relative to individual cloth.
+       // Values must be correct if being passed into single-cloth VBOs or when migrating from one solver
+       // to another.
+       btAlignedObjectArray< TriangleNodeSet > m_vertexIndices;
+       btAlignedObjectArray< float > m_area;
+       btAlignedObjectArray< Vectormath::Aos::Vector3 > m_normal;
+
+public:
+       btSoftBodyTriangleData()
+       {
+       }
+
+       virtual ~btSoftBodyTriangleData()
+       {
+
+       }
+
+       virtual void clear()
+       {
+               m_vertexIndices.resize(0);
+               m_area.resize(0);
+               m_normal.resize(0);
+       }
+
+       int getNumTriangles()
+       {
+               return m_vertexIndices.size();
+       }
+
+       virtual void setTriangleAt( const TriangleDescription &triangle, int triangleIndex )
+       {
+               m_vertexIndices[triangleIndex] = triangle.getVertexSet();
+       }
+
+       virtual void createTriangles( int numTriangles )                
+       {
+               int previousSize = m_vertexIndices.size();
+               int newSize = previousSize + numTriangles;
+
+               // Resize all the arrays that store triangle data
+               m_vertexIndices.resize( newSize );
+               m_area.resize( newSize );
+               m_normal.resize( newSize );
+       }
+
+       /**
+        * Return the vertex index set for triangle triangleIndex as stored on the host.
+        */
+       const TriangleNodeSet &getVertexSet( int triangleIndex )
+       {
+               return m_vertexIndices[triangleIndex];
+       }
+
+       /**
+        * Get access to the triangle area.
+        */
+       float &getTriangleArea( int triangleIndex )
+       {
+               return m_area[triangleIndex];
+       }
+
+       /**
+        * Get access to the normal vector for this triangle.
+        */
+       Vectormath::Aos::Vector3 &getNormal( int triangleIndex )
+       {
+               return m_normal[triangleIndex];
+       }
+
+       /**
+        * Return true if data is on the accelerator.
+        * The CPU version of this class will return true here because
+        * the CPU is the same as the accelerator.
+        */
+       virtual bool onAccelerator()
+       {
+               return true;
+       }
+       
+       /**
+        * Move data from host memory to the accelerator.
+        * The CPU version will always return that it has moved it.
+        */
+       virtual bool moveToAccelerator()
+       {
+               return true;
+       }
+
+       /**
+        * Move data from host memory from the accelerator.
+        * The CPU version will always return that it has moved it.
+        */
+       virtual bool moveFromAccelerator()
+       {
+               return true;
+       }
+};
+
+
+#endif // #ifndef BT_SOFT_BODY_SOLVER_DATA_H
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/cmake_install.cmake b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/cmake_install.cmake
new file mode 100644 (file)
index 0000000..9b3ca8d
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/GpuSoftBodySolvers/cmake_install.cmake
@@ -0,0 +1,35 @@
+# Install script for directory: /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/BulletMultiThreaded/GpuSoftBodySolvers
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/usr/local")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  IF(BUILD_TYPE)
+    STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  ELSE(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "Release")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+IF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+  # Include the install script for each subdirectory.
+  INCLUDE("/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/cmake_install.cmake")
+
+ENDIF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/HeapManager.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/HeapManager.h
new file mode 100644 (file)
index 0000000..b2da4ef
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/HeapManager.h
@@ -0,0 +1,117 @@
+/*
+   Copyright (C) 2009 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+*/
+
+#ifndef BT_HEAP_MANAGER_H__
+#define BT_HEAP_MANAGER_H__
+
+#ifdef __SPU__
+       #define HEAP_STACK_SIZE 32
+#else
+       #define HEAP_STACK_SIZE 64
+#endif
+
+#define MIN_ALLOC_SIZE 16
+
+
+class HeapManager
+{
+private:
+       ATTRIBUTE_ALIGNED16(unsigned char *mHeap);
+       ATTRIBUTE_ALIGNED16(unsigned int mHeapBytes);
+       ATTRIBUTE_ALIGNED16(unsigned char *mPoolStack[HEAP_STACK_SIZE]);
+       ATTRIBUTE_ALIGNED16(unsigned int mCurStack);
+       
+public:
+       enum {ALIGN16,ALIGN128};
+
+       HeapManager(unsigned char *buf,int bytes)
+       {
+               mHeap = buf;
+               mHeapBytes = bytes;
+               clear();
+       }
+       
+       ~HeapManager()
+       {
+       }
+       
+       int getAllocated()
+       {
+               return (int)(mPoolStack[mCurStack]-mHeap);
+       }
+       
+       int getRest()
+       {
+               return mHeapBytes-getAllocated();
+       }
+
+       void *allocate(size_t bytes,int alignment = ALIGN16)
+       {
+               if(bytes <= 0) bytes = MIN_ALLOC_SIZE;
+               btAssert(mCurStack < (HEAP_STACK_SIZE-1));
+
+               
+#if defined(_WIN64) || defined(__LP64__) || defined(__x86_64__)
+               unsigned long long p = (unsigned long long )mPoolStack[mCurStack];
+               if(alignment == ALIGN128) {
+                       p = ((p+127) & 0xffffffffffffff80);
+                       bytes = (bytes+127) & 0xffffffffffffff80;
+               }
+               else {
+                       bytes = (bytes+15) & 0xfffffffffffffff0;
+               }
+
+               btAssert(bytes <=(mHeapBytes-(p-(unsigned long long )mHeap)) );
+               
+#else
+               unsigned long p = (unsigned long )mPoolStack[mCurStack];
+               if(alignment == ALIGN128) {
+                       p = ((p+127) & 0xffffff80);
+                       bytes = (bytes+127) & 0xffffff80;
+               }
+               else {
+                       bytes = (bytes+15) & 0xfffffff0;
+               }
+               btAssert(bytes <=(mHeapBytes-(p-(unsigned long)mHeap)) );
+#endif
+               unsigned char * bla = (unsigned char *)(p + bytes);
+               mPoolStack[++mCurStack] = bla;
+               return (void*)p;
+       }
+
+       void deallocate(void *p)
+       {
+               (void) p;
+               mCurStack--;
+       }
+       
+       void clear()
+       {
+               mPoolStack[0] = mHeap;
+               mCurStack = 0;
+       }
+
+//     void printStack()
+//     {
+//             for(unsigned int i=0;i<=mCurStack;i++) {
+//                     PRINTF("memStack %2d 0x%x\n",i,(uint32_t)mPoolStack[i]);
+//             }
+//     }
+
+};
+
+#endif //BT_HEAP_MANAGER_H__
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/Makefile b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/Makefile
new file mode 100644 (file)
index 0000000..32bbe06
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/Makefile
@@ -0,0 +1,506 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+# Default target executed when no arguments are given to make.
+default_target: all
+.PHONY : default_target
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canoncical targets will work.
+.SUFFIXES:
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+# A target that is always out of date.
+cmake_force:
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = "/Applications/CMake 2.8-6.app/Contents/bin/cmake"
+
+# The command to remove a file.
+RM = "/Applications/CMake 2.8-6.app/Contents/bin/cmake" -E remove -f
+
+# The program to use to edit the cache.
+CMAKE_EDIT_COMMAND = "/Applications/CMake 2.8-6.app/Contents/bin/ccmake"
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx
+
+#=============================================================================
+# Targets provided globally by CMake.
+
+# Special rule for the target edit_cache
+edit_cache:
+       @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake cache editor..."
+       "/Applications/CMake 2.8-6.app/Contents/bin/ccmake" -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
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+# target to preprocess a source file
+SpuSampleTaskProcess.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/build.make src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/SpuSampleTaskProcess.i
+.PHONY : SpuSampleTaskProcess.i
+
+# target to generate assembly for a file
+SpuSampleTaskProcess.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/build.make src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/SpuSampleTaskProcess.s
+.PHONY : SpuSampleTaskProcess.s
+
+# target to build an object file
+Win32ThreadSupport.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/build.make src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/Win32ThreadSupport.o
+.PHONY : Win32ThreadSupport.o
+
+# target to preprocess a source file
+Win32ThreadSupport.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/build.make src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/Win32ThreadSupport.i
+.PHONY : Win32ThreadSupport.i
+
+# target to generate assembly for a file
+Win32ThreadSupport.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/build.make src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/Win32ThreadSupport.s
+.PHONY : Win32ThreadSupport.s
+
+# target to build an object file
+btGpu3DGridBroadphase.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/build.make src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/btGpu3DGridBroadphase.o
+.PHONY : btGpu3DGridBroadphase.o
+
+# target to preprocess a source file
+btGpu3DGridBroadphase.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/build.make src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/btGpu3DGridBroadphase.i
+.PHONY : btGpu3DGridBroadphase.i
+
+# target to generate assembly for a file
+btGpu3DGridBroadphase.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/build.make src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/btGpu3DGridBroadphase.s
+.PHONY : btGpu3DGridBroadphase.s
+
+# target to build an object file
+btParallelConstraintSolver.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/build.make src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/btParallelConstraintSolver.o
+.PHONY : btParallelConstraintSolver.o
+
+# target to preprocess a source file
+btParallelConstraintSolver.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/build.make src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/btParallelConstraintSolver.i
+.PHONY : btParallelConstraintSolver.i
+
+# target to generate assembly for a file
+btParallelConstraintSolver.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/build.make src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/btParallelConstraintSolver.s
+.PHONY : btParallelConstraintSolver.s
+
+# target to build an object file
+btThreadSupportInterface.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/build.make src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/btThreadSupportInterface.o
+.PHONY : btThreadSupportInterface.o
+
+# target to preprocess a source file
+btThreadSupportInterface.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/build.make src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/btThreadSupportInterface.i
+.PHONY : btThreadSupportInterface.i
+
+# target to generate assembly for a file
+btThreadSupportInterface.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/build.make src/BulletMultiThreaded/CMakeFiles/BulletMultiThreaded.dir/btThreadSupportInterface.s
+.PHONY : btThreadSupportInterface.s
+
+# Help Target
+help:
+       @echo "The following are some of the valid targets for this Makefile:"
+       @echo "... all (the default if no target is provided)"
+       @echo "... clean"
+       @echo "... depend"
+       @echo "... BulletMultiThreaded"
+       @echo "... edit_cache"
+       @echo "... install"
+       @echo "... install/local"
+       @echo "... install/strip"
+       @echo "... list_install_components"
+       @echo "... rebuild_cache"
+       @echo "... PosixThreadSupport.o"
+       @echo "... PosixThreadSupport.i"
+       @echo "... PosixThreadSupport.s"
+       @echo "... SequentialThreadSupport.o"
+       @echo "... SequentialThreadSupport.i"
+       @echo "... SequentialThreadSupport.s"
+       @echo "... SpuCollisionObjectWrapper.o"
+       @echo "... SpuCollisionObjectWrapper.i"
+       @echo "... SpuCollisionObjectWrapper.s"
+       @echo "... SpuCollisionTaskProcess.o"
+       @echo "... SpuCollisionTaskProcess.i"
+       @echo "... SpuCollisionTaskProcess.s"
+       @echo "... SpuContactManifoldCollisionAlgorithm.o"
+       @echo "... SpuContactManifoldCollisionAlgorithm.i"
+       @echo "... SpuContactManifoldCollisionAlgorithm.s"
+       @echo "... SpuFakeDma.o"
+       @echo "... SpuFakeDma.i"
+       @echo "... SpuFakeDma.s"
+       @echo "... SpuGatheringCollisionDispatcher.o"
+       @echo "... SpuGatheringCollisionDispatcher.i"
+       @echo "... SpuGatheringCollisionDispatcher.s"
+       @echo "... SpuLibspe2Support.o"
+       @echo "... SpuLibspe2Support.i"
+       @echo "... SpuLibspe2Support.s"
+       @echo "... SpuNarrowPhaseCollisionTask/SpuCollisionShapes.o"
+       @echo "... SpuNarrowPhaseCollisionTask/SpuCollisionShapes.i"
+       @echo "... SpuNarrowPhaseCollisionTask/SpuCollisionShapes.s"
+       @echo "... SpuNarrowPhaseCollisionTask/SpuContactResult.o"
+       @echo "... SpuNarrowPhaseCollisionTask/SpuContactResult.i"
+       @echo "... SpuNarrowPhaseCollisionTask/SpuContactResult.s"
+       @echo "... SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.o"
+       @echo "... SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.i"
+       @echo "... SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.s"
+       @echo "... SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.o"
+       @echo "... SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.i"
+       @echo "... SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.s"
+       @echo "... SpuNarrowPhaseCollisionTask/boxBoxDistance.o"
+       @echo "... SpuNarrowPhaseCollisionTask/boxBoxDistance.i"
+       @echo "... SpuNarrowPhaseCollisionTask/boxBoxDistance.s"
+       @echo "... SpuSampleTaskProcess.o"
+       @echo "... SpuSampleTaskProcess.i"
+       @echo "... SpuSampleTaskProcess.s"
+       @echo "... Win32ThreadSupport.o"
+       @echo "... Win32ThreadSupport.i"
+       @echo "... Win32ThreadSupport.s"
+       @echo "... btGpu3DGridBroadphase.o"
+       @echo "... btGpu3DGridBroadphase.i"
+       @echo "... btGpu3DGridBroadphase.s"
+       @echo "... btParallelConstraintSolver.o"
+       @echo "... btParallelConstraintSolver.i"
+       @echo "... btParallelConstraintSolver.s"
+       @echo "... btThreadSupportInterface.o"
+       @echo "... btThreadSupportInterface.i"
+       @echo "... btThreadSupportInterface.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/PlatformDefinitions.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/PlatformDefinitions.h
new file mode 100644 (file)
index 0000000..142103a
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/PlatformDefinitions.h
@@ -0,0 +1,99 @@
+#ifndef BT_TYPE_DEFINITIONS_H
+#define BT_TYPE_DEFINITIONS_H
+
+///This file provides some platform/compiler checks for common definitions
+#include "LinearMath/btScalar.h"
+#include "LinearMath/btMinMax.h"
+
+#ifdef PFX_USE_FREE_VECTORMATH
+#include "physics_effects/base_level/base/pfx_vectormath_include.win32.h"
+typedef Vectormath::Aos::Vector3    vmVector3;
+typedef Vectormath::Aos::Quat       vmQuat;
+typedef Vectormath::Aos::Matrix3    vmMatrix3;
+typedef Vectormath::Aos::Transform3 vmTransform3;
+typedef Vectormath::Aos::Point3     vmPoint3;
+#else
+#include "vectormath/vmInclude.h"
+#endif//PFX_USE_FREE_VECTORMATH
+
+
+
+
+
+#ifdef _WIN32
+
+typedef union
+{
+  unsigned int u;
+  void *p;
+} addr64;
+
+#define USE_WIN32_THREADING 1
+
+               #if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300)
+               #else
+               #endif //__MINGW32__
+
+               typedef unsigned char     uint8_t;
+#ifndef __PHYSICS_COMMON_H__
+#ifndef PFX_USE_FREE_VECTORMATH
+#ifndef __BT_SKIP_UINT64_H
+               typedef unsigned long int uint64_t;
+#endif //__BT_SKIP_UINT64_H
+#endif //PFX_USE_FREE_VECTORMATH
+               typedef unsigned int      uint32_t;
+#endif //__PHYSICS_COMMON_H__
+               typedef unsigned short    uint16_t;
+
+               #include <malloc.h>
+               #define memalign(alignment, size) malloc(size);
+                       
+#include <string.h> //memcpy
+
+               
+
+               #include <stdio.h>              
+               #define spu_printf printf
+               
+#else
+               #include <stdint.h>
+               #include <stdlib.h>
+               #include <string.h> //for memcpy
+
+#if defined    (__CELLOS_LV2__)
+       // Playstation 3 Cell SDK
+#include <spu_printf.h>
+               
+#else
+       // posix system
+
+#define USE_PTHREADS    (1)
+
+#ifdef USE_LIBSPE2
+#include <stdio.h>             
+#define spu_printf printf      
+#define DWORD unsigned int
+                       typedef union
+                       {
+                         unsigned long long ull;
+                         unsigned int ui[2];
+                         void *p;
+                       } addr64;
+#endif // USE_LIBSPE2
+
+#endif //__CELLOS_LV2__
+       
+#endif
+
+#ifdef __SPU__
+#include <stdio.h>             
+#define printf spu_printf
+#endif
+
+/* Included here because we need uint*_t typedefs */
+#include "PpuAddressSpace.h"
+
+#endif //BT_TYPE_DEFINITIONS_H
+
+
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/PosixThreadSupport.cpp b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/PosixThreadSupport.cpp
new file mode 100644 (file)
index 0000000..81c0cf8
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/PosixThreadSupport.cpp
@@ -0,0 +1,409 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <stdio.h>
+#include "PosixThreadSupport.h"
+#ifdef USE_PTHREADS
+#include <errno.h>
+#include <unistd.h>
+
+#include "SpuCollisionTaskProcess.h"
+#include "SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
+
+#define checkPThreadFunction(returnValue) \
+    if(0 != returnValue) { \
+        printf("PThread problem at line %i in file %s: %i %d\n", __LINE__, __FILE__, returnValue, errno); \
+    }
+
+// The number of threads should be equal to the number of available cores
+// Todo: each worker should be linked to a single core, using SetThreadIdealProcessor.
+
+// PosixThreadSupport helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
+// Setup and initialize SPU/CELL/Libspe2
+PosixThreadSupport::PosixThreadSupport(ThreadConstructionInfo& threadConstructionInfo)
+{
+       startThreads(threadConstructionInfo);
+}
+
+// cleanup/shutdown Libspe2
+PosixThreadSupport::~PosixThreadSupport()
+{
+       stopSPU();
+}
+
+#if (defined (__APPLE__))
+#define NAMED_SEMAPHORES
+#endif
+
+// this semaphore will signal, if and how many threads are finished with their work
+static sem_t* mainSemaphore=0;
+
+static sem_t* createSem(const char* baseName)
+{
+       static int semCount = 0;
+#ifdef NAMED_SEMAPHORES
+        /// Named semaphore begin
+        char name[32];
+        snprintf(name, 32, "/%s-%d-%4.4d", baseName, getpid(), semCount++); 
+        sem_t* tempSem = sem_open(name, O_CREAT, 0600, 0);
+
+        if (tempSem != reinterpret_cast<sem_t *>(SEM_FAILED))
+        {
+//        printf("Created \"%s\" Semaphore %p\n", name, tempSem);
+        }
+        else
+       {
+               //printf("Error creating Semaphore %d\n", errno);
+               exit(-1);
+       }
+        /// Named semaphore end
+#else
+       sem_t* tempSem = new sem_t;
+       checkPThreadFunction(sem_init(tempSem, 0, 0));
+#endif
+       return tempSem;
+}
+
+static void destroySem(sem_t* semaphore)
+{
+#ifdef NAMED_SEMAPHORES
+       checkPThreadFunction(sem_close(semaphore));
+#else
+       checkPThreadFunction(sem_destroy(semaphore));
+       delete semaphore;
+#endif 
+}
+
+static void *threadFunction(void *argument) 
+{
+
+       PosixThreadSupport::btSpuStatus* status = (PosixThreadSupport::btSpuStatus*)argument;
+
+       
+       while (1)
+       {
+            checkPThreadFunction(sem_wait(status->startSemaphore));
+               
+               void* userPtr = status->m_userPtr;
+
+               if (userPtr)
+               {
+                       btAssert(status->m_status);
+                       status->m_userThreadFunc(userPtr,status->m_lsMemory);
+                       status->m_status = 2;
+                       checkPThreadFunction(sem_post(mainSemaphore));
+                       status->threadUsed++;
+               } else {
+                       //exit Thread
+                       status->m_status = 3;
+                       checkPThreadFunction(sem_post(mainSemaphore));
+                       printf("Thread with taskId %i exiting\n",status->m_taskId);
+                       break;
+               }
+               
+       }
+
+       printf("Thread TERMINATED\n");
+       return 0;
+
+}
+
+///send messages to SPUs
+void PosixThreadSupport::sendRequest(uint32_t uiCommand, ppu_address_t uiArgument0, uint32_t taskId)
+{
+       ///     gMidphaseSPU.sendRequest(CMD_GATHER_AND_PROCESS_PAIRLIST, (uint32_t) &taskDesc);
+       
+       ///we should spawn an SPU task here, and in 'waitForResponse' it should wait for response of the (one of) the first tasks that finished
+       
+
+
+       switch (uiCommand)
+       {
+       case    CMD_GATHER_AND_PROCESS_PAIRLIST:
+               {
+                       btSpuStatus&    spuStatus = m_activeSpuStatus[taskId];
+                       btAssert(taskId >= 0);
+                       btAssert(taskId < m_activeSpuStatus.size());
+
+                       spuStatus.m_commandId = uiCommand;
+                       spuStatus.m_status = 1;
+                       spuStatus.m_userPtr = (void*)uiArgument0;
+
+                       // fire event to start new task
+                       checkPThreadFunction(sem_post(spuStatus.startSemaphore));
+                       break;
+               }
+       default:
+               {
+                       ///not implemented
+                       btAssert(0);
+               }
+
+       };
+
+
+}
+
+
+///check for messages from SPUs
+void PosixThreadSupport::waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1)
+{
+       ///We should wait for (one of) the first tasks to finish (or other SPU messages), and report its response
+       
+       ///A possible response can be 'yes, SPU handled it', or 'no, please do a PPU fallback'
+
+
+       btAssert(m_activeSpuStatus.size());
+
+        // wait for any of the threads to finish
+       checkPThreadFunction(sem_wait(mainSemaphore));
+        
+       // get at least one thread which has finished
+        size_t last = -1;
+        
+        for(size_t t=0; t < size_t(m_activeSpuStatus.size()); ++t) {
+            if(2 == m_activeSpuStatus[t].m_status) {
+                last = t;
+                break;
+            }
+        }
+
+       btSpuStatus& spuStatus = m_activeSpuStatus[last];
+
+       btAssert(spuStatus.m_status > 1);
+       spuStatus.m_status = 0;
+
+       // need to find an active spu
+       btAssert(last >= 0);
+
+       *puiArgument0 = spuStatus.m_taskId;
+       *puiArgument1 = spuStatus.m_status;
+}
+
+
+
+void PosixThreadSupport::startThreads(ThreadConstructionInfo& threadConstructionInfo)
+{
+        printf("%s creating %i threads.\n", __FUNCTION__, threadConstructionInfo.m_numThreads);
+       m_activeSpuStatus.resize(threadConstructionInfo.m_numThreads);
+        
+       mainSemaphore = createSem("main");                
+       //checkPThreadFunction(sem_wait(mainSemaphore));
+   
+       for (int i=0;i < threadConstructionInfo.m_numThreads;i++)
+       {
+               printf("starting thread %d\n",i);
+
+               btSpuStatus&    spuStatus = m_activeSpuStatus[i];
+
+               spuStatus.startSemaphore = createSem("threadLocal");                
+                
+                checkPThreadFunction(pthread_create(&spuStatus.thread, NULL, &threadFunction, (void*)&spuStatus));
+
+               spuStatus.m_userPtr=0;
+
+               spuStatus.m_taskId = i;
+               spuStatus.m_commandId = 0;
+               spuStatus.m_status = 0;
+               spuStatus.m_lsMemory = threadConstructionInfo.m_lsMemoryFunc();
+               spuStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc;
+        spuStatus.threadUsed = 0;
+
+               printf("started thread %d \n",i);
+               
+       }
+
+}
+
+void PosixThreadSupport::startSPU()
+{
+}
+
+
+///tell the task scheduler we are done with the SPU tasks
+void PosixThreadSupport::stopSPU()
+{
+       for(size_t t=0; t < size_t(m_activeSpuStatus.size()); ++t) 
+       {
+            btSpuStatus&       spuStatus = m_activeSpuStatus[t];
+            printf("%s: Thread %i used: %ld\n", __FUNCTION__, int(t), spuStatus.threadUsed);
+
+       spuStatus.m_userPtr = 0;       
+       checkPThreadFunction(sem_post(spuStatus.startSemaphore));
+       checkPThreadFunction(sem_wait(mainSemaphore));
+
+       printf("destroy semaphore\n"); 
+            destroySem(spuStatus.startSemaphore);
+            printf("semaphore destroyed\n");
+               checkPThreadFunction(pthread_join(spuStatus.thread,0));
+
+        }
+       printf("destroy main semaphore\n");
+        destroySem(mainSemaphore);
+       printf("main semaphore destroyed\n");
+       m_activeSpuStatus.clear();
+}
+
+class PosixCriticalSection : public btCriticalSection 
+{
+       pthread_mutex_t m_mutex;
+       
+public:
+       PosixCriticalSection() 
+       {
+               pthread_mutex_init(&m_mutex, NULL);
+       }
+       virtual ~PosixCriticalSection() 
+       {
+               pthread_mutex_destroy(&m_mutex);
+       }
+       
+       ATTRIBUTE_ALIGNED16(unsigned int mCommonBuff[32]);
+       
+       virtual unsigned int getSharedParam(int i)
+       {
+               return mCommonBuff[i];
+       }
+       virtual void setSharedParam(int i,unsigned int p)
+       {
+               mCommonBuff[i] = p;
+       }
+       
+       virtual void lock()
+       {
+               pthread_mutex_lock(&m_mutex);
+       }
+       virtual void unlock()
+       {
+               pthread_mutex_unlock(&m_mutex);
+       }
+};
+
+
+#if defined(_POSIX_BARRIERS) && (_POSIX_BARRIERS - 20012L) >= 0
+/* OK to use barriers on this platform */
+class PosixBarrier : public btBarrier 
+{
+       pthread_barrier_t m_barr;
+       int m_numThreads;
+public:
+       PosixBarrier()
+       :m_numThreads(0)        {       }
+       virtual ~PosixBarrier() {
+               pthread_barrier_destroy(&m_barr);
+       }
+       
+       virtual void sync()
+       {
+               int rc = pthread_barrier_wait(&m_barr);
+               if(rc != 0 && rc != PTHREAD_BARRIER_SERIAL_THREAD)
+               {
+                       printf("Could not wait on barrier\n");
+                       exit(-1);
+               }
+       }
+       virtual void setMaxCount(int numThreads)
+       {
+               int result = pthread_barrier_init(&m_barr, NULL, numThreads);
+               m_numThreads = numThreads;
+               btAssert(result==0);
+       }
+       virtual int  getMaxCount()
+       {
+               return m_numThreads;
+       }
+};
+#else
+/* Not OK to use barriers on this platform - insert alternate code here */
+class PosixBarrier : public btBarrier 
+{
+       pthread_mutex_t m_mutex;
+       pthread_cond_t m_cond;
+       
+       int m_numThreads;
+       int     m_called;
+       
+public:
+       PosixBarrier()
+       :m_numThreads(0)
+       {
+       }
+       virtual ~PosixBarrier() 
+       {
+               if (m_numThreads>0)
+               {
+                       pthread_mutex_destroy(&m_mutex);
+                       pthread_cond_destroy(&m_cond);
+               }
+       }
+       
+       virtual void sync()
+       {               
+               pthread_mutex_lock(&m_mutex);
+               m_called++;
+               if (m_called == m_numThreads) {
+                       m_called = 0;
+                       pthread_cond_broadcast(&m_cond);
+               } else {
+                       pthread_cond_wait(&m_cond,&m_mutex);
+               }
+               pthread_mutex_unlock(&m_mutex);
+               
+       }
+       virtual void setMaxCount(int numThreads)
+       {
+               if (m_numThreads>0)
+               {
+                       pthread_mutex_destroy(&m_mutex);
+                       pthread_cond_destroy(&m_cond);
+               }
+               m_called = 0;
+               pthread_mutex_init(&m_mutex,NULL);
+               pthread_cond_init(&m_cond,NULL);
+               m_numThreads = numThreads;
+       }
+       virtual int  getMaxCount()
+       {
+               return m_numThreads;
+       }
+};
+
+#endif//_POSIX_BARRIERS
+
+
+
+btBarrier* PosixThreadSupport::createBarrier()
+{
+       PosixBarrier* barrier = new PosixBarrier();
+       barrier->setMaxCount(getNumTasks());
+       return barrier;
+}
+
+btCriticalSection* PosixThreadSupport::createCriticalSection()
+{
+       return new PosixCriticalSection();
+}
+
+void   PosixThreadSupport::deleteBarrier(btBarrier* barrier)
+{
+       delete barrier;
+}
+
+void PosixThreadSupport::deleteCriticalSection(btCriticalSection* cs)
+{
+       delete cs;
+}
+#endif // USE_PTHREADS
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/PosixThreadSupport.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/PosixThreadSupport.h
new file mode 100644 (file)
index 0000000..bf7578f
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/PosixThreadSupport.h
@@ -0,0 +1,147 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_POSIX_THREAD_SUPPORT_H
+#define BT_POSIX_THREAD_SUPPORT_H
+
+
+#include "LinearMath/btScalar.h"
+#include "PlatformDefinitions.h"
+
+#ifdef USE_PTHREADS //platform specifc defines are defined in PlatformDefinitions.h
+
+#ifndef _XOPEN_SOURCE
+#define _XOPEN_SOURCE 600 //for definition of pthread_barrier_t, see http://pages.cs.wisc.edu/~travitch/pthreads_primer.html
+#endif //_XOPEN_SOURCE
+#include <pthread.h>
+#include <semaphore.h>
+
+
+
+#include "LinearMath/btAlignedObjectArray.h"
+
+#include "btThreadSupportInterface.h"
+
+
+typedef void (*PosixThreadFunc)(void* userPtr,void* lsMemory);
+typedef void* (*PosixlsMemorySetupFunc)();
+
+// PosixThreadSupport helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
+class PosixThreadSupport : public btThreadSupportInterface 
+{
+public:
+    typedef enum sStatus {
+        STATUS_BUSY,
+        STATUS_READY,
+        STATUS_FINISHED
+    } Status;
+
+       // placeholder, until libspe2 support is there
+       struct  btSpuStatus
+       {
+               uint32_t        m_taskId;
+               uint32_t        m_commandId;
+               uint32_t        m_status;
+
+               PosixThreadFunc m_userThreadFunc;
+               void*   m_userPtr; //for taskDesc etc
+               void*   m_lsMemory; //initialized using PosixLocalStoreMemorySetupFunc
+
+                pthread_t thread;
+                sem_t* startSemaphore;
+
+        unsigned long threadUsed;
+       };
+private:
+
+       btAlignedObjectArray<btSpuStatus>       m_activeSpuStatus;
+public:
+       ///Setup and initialize SPU/CELL/Libspe2
+
+       
+
+       struct  ThreadConstructionInfo
+       {
+               ThreadConstructionInfo(const char* uniqueName,
+                                                                       PosixThreadFunc userThreadFunc,
+                                                                       PosixlsMemorySetupFunc  lsMemoryFunc,
+                                                                       int numThreads=1,
+                                                                       int threadStackSize=65535
+                                                                       )
+                                                                       :m_uniqueName(uniqueName),
+                                                                       m_userThreadFunc(userThreadFunc),
+                                                                       m_lsMemoryFunc(lsMemoryFunc),
+                                                                       m_numThreads(numThreads),
+                                                                       m_threadStackSize(threadStackSize)
+               {
+
+               }
+
+               const char*                                     m_uniqueName;
+               PosixThreadFunc                 m_userThreadFunc;
+               PosixlsMemorySetupFunc  m_lsMemoryFunc;
+               int                                             m_numThreads;
+               int                                             m_threadStackSize;
+
+       };
+
+       PosixThreadSupport(ThreadConstructionInfo& threadConstructionInfo);
+
+///cleanup/shutdown Libspe2
+       virtual ~PosixThreadSupport();
+
+       void    startThreads(ThreadConstructionInfo&    threadInfo);
+
+
+///send messages to SPUs
+       virtual void sendRequest(uint32_t uiCommand, ppu_address_t uiArgument0, uint32_t uiArgument1);
+
+///check for messages from SPUs
+       virtual void waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1);
+
+///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded)
+       virtual void startSPU();
+
+///tell the task scheduler we are done with the SPU tasks
+       virtual void stopSPU();
+
+       virtual void setNumTasks(int numTasks) {}
+
+       virtual int getNumTasks() const
+       {
+               return m_activeSpuStatus.size();
+       }
+
+       virtual btBarrier* createBarrier();
+
+       virtual btCriticalSection* createCriticalSection();
+
+       virtual void deleteBarrier(btBarrier* barrier);
+
+       virtual void deleteCriticalSection(btCriticalSection* criticalSection);
+       
+       
+       virtual void*   getThreadLocalMemory(int taskId)
+       {
+               return m_activeSpuStatus[taskId].m_lsMemory;
+       }
+
+};
+
+#endif // USE_PTHREADS
+
+#endif // BT_POSIX_THREAD_SUPPORT_H
+
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/PpuAddressSpace.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/PpuAddressSpace.h
new file mode 100644 (file)
index 0000000..6f22827
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/PpuAddressSpace.h
@@ -0,0 +1,37 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2010 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#ifndef BT_PPU_ADDRESS_SPACE_H
+#define BT_PPU_ADDRESS_SPACE_H
+
+
+#ifdef _WIN32
+//stop those casting warnings until we have a better solution for ppu_address_t / void* / uint64 conversions
+#pragma warning (disable: 4311)
+#pragma warning (disable: 4312)
+#endif //_WIN32
+
+
+#if defined(_WIN64)
+       typedef unsigned __int64 ppu_address_t;
+#elif defined(__LP64__) || defined(__x86_64__)
+       typedef uint64_t ppu_address_t;
+#else
+       typedef uint32_t ppu_address_t;
+#endif //defined(_WIN64)
+
+#endif //BT_PPU_ADDRESS_SPACE_H
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SequentialThreadSupport.cpp b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SequentialThreadSupport.cpp
new file mode 100644 (file)
index 0000000..1999277
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SequentialThreadSupport.cpp
@@ -0,0 +1,181 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "SequentialThreadSupport.h"
+
+
+#include "SpuCollisionTaskProcess.h"
+#include "SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
+
+SequentialThreadSupport::SequentialThreadSupport(SequentialThreadConstructionInfo& threadConstructionInfo)
+{
+       startThreads(threadConstructionInfo);
+}
+
+///cleanup/shutdown Libspe2
+SequentialThreadSupport::~SequentialThreadSupport()
+{
+       stopSPU();
+}
+
+#include <stdio.h>
+
+///send messages to SPUs
+void SequentialThreadSupport::sendRequest(uint32_t uiCommand, ppu_address_t uiArgument0, uint32_t taskId)
+{
+       switch (uiCommand)
+       {
+       case    CMD_GATHER_AND_PROCESS_PAIRLIST:
+               {
+                       btSpuStatus&    spuStatus = m_activeSpuStatus[0];
+                       spuStatus.m_userPtr=(void*)uiArgument0;
+                       spuStatus.m_userThreadFunc(spuStatus.m_userPtr,spuStatus.m_lsMemory);
+               }
+       break;
+       default:
+               {
+                       ///not implemented
+                       btAssert(0 && "Not implemented");
+               }
+
+       };
+
+
+}
+
+///check for messages from SPUs
+void SequentialThreadSupport::waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1)
+{
+       btAssert(m_activeSpuStatus.size());
+       btSpuStatus& spuStatus = m_activeSpuStatus[0];
+       *puiArgument0 = spuStatus.m_taskId;
+       *puiArgument1 = spuStatus.m_status;
+}
+
+void SequentialThreadSupport::startThreads(SequentialThreadConstructionInfo& threadConstructionInfo)
+{
+       m_activeSpuStatus.resize(1);
+       printf("STS: Not starting any threads\n");
+       btSpuStatus& spuStatus = m_activeSpuStatus[0];
+       spuStatus.m_userPtr = 0;
+       spuStatus.m_taskId = 0;
+       spuStatus.m_commandId = 0;
+       spuStatus.m_status = 0;
+       spuStatus.m_lsMemory = threadConstructionInfo.m_lsMemoryFunc();
+       spuStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc;
+       printf("STS: Created local store at %p for task %s\n", spuStatus.m_lsMemory, threadConstructionInfo.m_uniqueName);
+}
+
+void SequentialThreadSupport::startSPU()
+{
+}
+
+void SequentialThreadSupport::stopSPU()
+{
+       m_activeSpuStatus.clear();
+}
+
+void SequentialThreadSupport::setNumTasks(int numTasks)
+{
+       printf("SequentialThreadSupport::setNumTasks(%d) is not implemented and has no effect\n",numTasks);
+}
+
+
+
+
+class btDummyBarrier : public btBarrier
+{
+private:
+               
+public:
+       btDummyBarrier()
+       {
+       }
+       
+       virtual ~btDummyBarrier()
+       {
+       }
+       
+       void sync()
+       {
+       }
+       
+       virtual void setMaxCount(int n) {}
+       virtual int  getMaxCount() {return 1;}
+};
+
+class btDummyCriticalSection : public btCriticalSection
+{
+       
+public:
+       btDummyCriticalSection()
+       {
+       }
+       
+       virtual ~btDummyCriticalSection()
+       {
+       }
+       
+       unsigned int getSharedParam(int i)
+       {
+               btAssert(i>=0&&i<31);
+               return mCommonBuff[i+1];
+       }
+       
+       void setSharedParam(int i,unsigned int p)
+       {
+               btAssert(i>=0&&i<31);
+               mCommonBuff[i+1] = p;
+       }
+       
+       void lock()
+       {
+               mCommonBuff[0] = 1;
+       }
+       
+       void unlock()
+       {
+               mCommonBuff[0] = 0;
+       }
+};
+
+
+
+
+btBarrier*     SequentialThreadSupport::createBarrier()
+{
+       return new btDummyBarrier();
+}
+
+btCriticalSection* SequentialThreadSupport::createCriticalSection()
+{
+       return new btDummyCriticalSection();
+       
+}
+
+void SequentialThreadSupport::deleteBarrier(btBarrier* barrier)
+{
+    delete barrier;
+}
+
+void SequentialThreadSupport::deleteCriticalSection(btCriticalSection* criticalSection)
+{
+    delete criticalSection;
+}
+
+
+
+
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SequentialThreadSupport.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SequentialThreadSupport.h
new file mode 100644 (file)
index 0000000..a188ef2
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SequentialThreadSupport.h
@@ -0,0 +1,100 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "LinearMath/btScalar.h"
+#include "PlatformDefinitions.h"
+
+
+#ifndef BT_SEQUENTIAL_THREAD_SUPPORT_H
+#define BT_SEQUENTIAL_THREAD_SUPPORT_H
+
+#include "LinearMath/btAlignedObjectArray.h"
+
+#include "btThreadSupportInterface.h"
+
+typedef void (*SequentialThreadFunc)(void* userPtr,void* lsMemory);
+typedef void* (*SequentiallsMemorySetupFunc)();
+
+
+
+///The SequentialThreadSupport is a portable non-parallel implementation of the btThreadSupportInterface
+///This is useful for debugging and porting SPU Tasks to other platforms.
+class SequentialThreadSupport : public btThreadSupportInterface 
+{
+public:
+       struct  btSpuStatus
+       {
+               uint32_t        m_taskId;
+               uint32_t        m_commandId;
+               uint32_t        m_status;
+
+               SequentialThreadFunc    m_userThreadFunc;
+
+               void*   m_userPtr; //for taskDesc etc
+               void*   m_lsMemory; //initialized using SequentiallsMemorySetupFunc
+       };
+private:
+       btAlignedObjectArray<btSpuStatus>       m_activeSpuStatus;
+       btAlignedObjectArray<void*>                     m_completeHandles;      
+public:
+       struct  SequentialThreadConstructionInfo
+       {
+               SequentialThreadConstructionInfo (const char* uniqueName,
+                                                                       SequentialThreadFunc userThreadFunc,
+                                                                       SequentiallsMemorySetupFunc     lsMemoryFunc
+                                                                       )
+                                                                       :m_uniqueName(uniqueName),
+                                                                       m_userThreadFunc(userThreadFunc),
+                                                                       m_lsMemoryFunc(lsMemoryFunc)
+               {
+
+               }
+
+               const char*                                             m_uniqueName;
+               SequentialThreadFunc            m_userThreadFunc;
+               SequentiallsMemorySetupFunc     m_lsMemoryFunc;
+       };
+
+       SequentialThreadSupport(SequentialThreadConstructionInfo& threadConstructionInfo);
+       virtual ~SequentialThreadSupport();
+       void    startThreads(SequentialThreadConstructionInfo&  threadInfo);
+///send messages to SPUs
+       virtual void sendRequest(uint32_t uiCommand, ppu_address_t uiArgument0, uint32_t uiArgument1);
+///check for messages from SPUs
+       virtual void waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1);
+///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded)
+       virtual void startSPU();
+///tell the task scheduler we are done with the SPU tasks
+       virtual void stopSPU();
+
+       virtual void setNumTasks(int numTasks);
+
+       virtual int getNumTasks() const
+       {
+               return 1;
+       }
+       virtual btBarrier*      createBarrier();
+
+       virtual btCriticalSection* createCriticalSection();
+       
+    virtual void deleteBarrier(btBarrier* barrier);
+    
+    virtual void deleteCriticalSection(btCriticalSection* criticalSection);
+
+
+};
+
+#endif //BT_SEQUENTIAL_THREAD_SUPPORT_H
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuCollisionObjectWrapper.cpp b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuCollisionObjectWrapper.cpp
new file mode 100644 (file)
index 0000000..182aa26
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuCollisionObjectWrapper.cpp
@@ -0,0 +1,48 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "SpuCollisionObjectWrapper.h"
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+
+SpuCollisionObjectWrapper::SpuCollisionObjectWrapper ()
+{
+}
+
+#ifndef __SPU__
+SpuCollisionObjectWrapper::SpuCollisionObjectWrapper (const btCollisionObject* collisionObject)
+{
+       m_shapeType = collisionObject->getCollisionShape()->getShapeType ();
+       m_collisionObjectPtr = (ppu_address_t)collisionObject;
+       m_margin = collisionObject->getCollisionShape()->getMargin ();
+}
+#endif
+
+int
+SpuCollisionObjectWrapper::getShapeType () const
+{
+       return m_shapeType;
+}
+
+float
+SpuCollisionObjectWrapper::getCollisionMargin () const
+{
+       return m_margin;
+}
+
+ppu_address_t
+SpuCollisionObjectWrapper::getCollisionObjectPtr () const
+{
+       return m_collisionObjectPtr;
+}

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuCollisionObjectWrapper.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuCollisionObjectWrapper.h
new file mode 100644 (file)
index 0000000..f90da27
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuCollisionObjectWrapper.h
@@ -0,0 +1,40 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_SPU_COLLISION_OBJECT_WRAPPER_H
+#define BT_SPU_COLLISION_OBJECT_WRAPPER_H
+
+#include "PlatformDefinitions.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+
+ATTRIBUTE_ALIGNED16(class) SpuCollisionObjectWrapper
+{
+protected:
+       int m_shapeType;
+       float m_margin;
+       ppu_address_t m_collisionObjectPtr;
+
+public:
+       SpuCollisionObjectWrapper ();
+
+       SpuCollisionObjectWrapper (const btCollisionObject* collisionObject);
+
+       int           getShapeType () const;
+       float         getCollisionMargin () const;
+       ppu_address_t getCollisionObjectPtr () const;
+};
+
+
+#endif //BT_SPU_COLLISION_OBJECT_WRAPPER_H

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuCollisionTaskProcess.cpp b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuCollisionTaskProcess.cpp
new file mode 100644 (file)
index 0000000..f606d13
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuCollisionTaskProcess.cpp
@@ -0,0 +1,317 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+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.
+*/
+
+
+//#define DEBUG_SPU_TASK_SCHEDULING 1
+
+
+//class OptimizedBvhNode;
+
+#include "SpuCollisionTaskProcess.h"
+
+
+
+
+void   SpuCollisionTaskProcess::setNumTasks(int maxNumTasks)
+{
+       if (int(m_maxNumOutstandingTasks) != maxNumTasks)
+       {
+               m_maxNumOutstandingTasks = maxNumTasks;
+               m_taskBusy.resize(m_maxNumOutstandingTasks);
+               m_spuGatherTaskDesc.resize(m_maxNumOutstandingTasks);
+
+               for (int i = 0; i < m_taskBusy.size(); i++)
+               {
+                       m_taskBusy[i] = false;
+               }
+
+               ///re-allocate task memory buffers
+               if (m_workUnitTaskBuffers != 0)
+               {
+                       btAlignedFree(m_workUnitTaskBuffers);
+               }
+               
+               m_workUnitTaskBuffers = (unsigned char *)btAlignedAlloc(MIDPHASE_WORKUNIT_TASK_SIZE*m_maxNumOutstandingTasks, 128);
+       }
+       
+}
+
+
+
+SpuCollisionTaskProcess::SpuCollisionTaskProcess(class btThreadSupportInterface*       threadInterface, unsigned int   maxNumOutstandingTasks)
+:m_threadInterface(threadInterface),
+m_maxNumOutstandingTasks(0)
+{
+       m_workUnitTaskBuffers = (unsigned char *)0;
+       setNumTasks(maxNumOutstandingTasks);
+       m_numBusyTasks = 0;
+       m_currentTask = 0;
+       m_currentPage = 0;
+       m_currentPageEntry = 0;
+
+#ifdef DEBUG_SpuCollisionTaskProcess
+       m_initialized = false;
+#endif
+
+       m_threadInterface->startSPU();
+
+       //printf("sizeof vec_float4: %d\n", sizeof(vec_float4));
+       printf("sizeof SpuGatherAndProcessWorkUnitInput: %d\n", int(sizeof(SpuGatherAndProcessWorkUnitInput)));
+
+}
+
+SpuCollisionTaskProcess::~SpuCollisionTaskProcess()
+{
+       
+       if (m_workUnitTaskBuffers != 0)
+       {
+               btAlignedFree(m_workUnitTaskBuffers);
+               m_workUnitTaskBuffers = 0;
+       }
+       
+
+
+       m_threadInterface->stopSPU();
+       
+}
+
+
+
+void SpuCollisionTaskProcess::initialize2(bool useEpa)
+{
+
+#ifdef DEBUG_SPU_TASK_SCHEDULING
+       printf("SpuCollisionTaskProcess::initialize()\n");
+#endif //DEBUG_SPU_TASK_SCHEDULING
+       
+       for (int i = 0; i < int (m_maxNumOutstandingTasks); i++)
+       {
+               m_taskBusy[i] = false;
+       }
+       m_numBusyTasks = 0;
+       m_currentTask = 0;
+       m_currentPage = 0;
+       m_currentPageEntry = 0;
+       m_useEpa = useEpa;
+
+#ifdef DEBUG_SpuCollisionTaskProcess
+       m_initialized = true;
+       btAssert(MIDPHASE_NUM_WORKUNITS_PER_TASK*sizeof(SpuGatherAndProcessWorkUnitInput) <= MIDPHASE_WORKUNIT_TASK_SIZE);
+#endif
+}
+
+
+void SpuCollisionTaskProcess::issueTask2()
+{
+
+#ifdef DEBUG_SPU_TASK_SCHEDULING
+       printf("SpuCollisionTaskProcess::issueTask (m_currentTask= %d\n)", m_currentTask);
+#endif //DEBUG_SPU_TASK_SCHEDULING
+
+       m_taskBusy[m_currentTask] = true;
+       m_numBusyTasks++;
+
+
+       SpuGatherAndProcessPairsTaskDesc& taskDesc = m_spuGatherTaskDesc[m_currentTask];
+       taskDesc.m_useEpa = m_useEpa;
+
+       {
+               // send task description in event message
+               // no error checking here...
+               // but, currently, event queue can be no larger than NUM_WORKUNIT_TASKS.
+       
+               taskDesc.m_inPairPtr = reinterpret_cast<uint64_t>(MIDPHASE_TASK_PTR(m_currentTask));
+       
+               taskDesc.taskId = m_currentTask;
+               taskDesc.numPages = m_currentPage+1;
+               taskDesc.numOnLastPage = m_currentPageEntry;
+       }
+
+
+
+       m_threadInterface->sendRequest(CMD_GATHER_AND_PROCESS_PAIRLIST, (ppu_address_t) &taskDesc,m_currentTask);
+
+       // if all tasks busy, wait for spu event to clear the task.
+       
+
+       if (m_numBusyTasks >= m_maxNumOutstandingTasks)
+       {
+               unsigned int taskId;
+               unsigned int outputSize;
+
+               
+               for (int i=0;i<int (m_maxNumOutstandingTasks);i++)
+                 {
+                         if (m_taskBusy[i])
+                         {
+                                 taskId = i;
+                                 break;
+                         }
+                 }
+
+         btAssert(taskId>=0);
+
+         
+               m_threadInterface->waitForResponse(&taskId, &outputSize);
+
+//             printf("issueTask taskId %d completed, numBusy=%d\n",taskId,m_numBusyTasks);
+
+               //printf("PPU: after issue, received event: %u %d\n", taskId, outputSize);
+
+               //postProcess(taskId, outputSize);
+
+               m_taskBusy[taskId] = false;
+
+               m_numBusyTasks--;
+       }
+       
+}
+
+void SpuCollisionTaskProcess::addWorkToTask(void* pairArrayPtr,int startIndex,int endIndex)
+{
+#ifdef DEBUG_SPU_TASK_SCHEDULING
+       printf("#");
+#endif //DEBUG_SPU_TASK_SCHEDULING
+       
+#ifdef DEBUG_SpuCollisionTaskProcess
+       btAssert(m_initialized);
+       btAssert(m_workUnitTaskBuffers);
+
+#endif
+
+       bool batch = true;
+
+       if (batch)
+       {
+               if (m_currentPageEntry == MIDPHASE_NUM_WORKUNITS_PER_PAGE)
+               {
+                       if (m_currentPage == MIDPHASE_NUM_WORKUNIT_PAGES-1)
+                       {
+                               // task buffer is full, issue current task.
+                               // if all task buffers busy, this waits until SPU is done.
+                               issueTask2();
+
+                               // find new task buffer
+                               for (unsigned int i = 0; i < m_maxNumOutstandingTasks; i++)
+                               {
+                                       if (!m_taskBusy[i])
+                                       {
+                                               m_currentTask = i;
+                                               //init the task data
+
+                                               break;
+                                       }
+                               }
+
+                               m_currentPage = 0;
+                       }
+                       else
+                       {
+                               m_currentPage++;
+                       }
+
+                       m_currentPageEntry = 0;
+               }
+       }
+
+       {
+
+
+
+               SpuGatherAndProcessWorkUnitInput &wuInput = 
+                       *(reinterpret_cast<SpuGatherAndProcessWorkUnitInput*>
+                       (MIDPHASE_ENTRY_PTR(m_currentTask, m_currentPage, m_currentPageEntry)));
+               
+               wuInput.m_pairArrayPtr = reinterpret_cast<uint64_t>(pairArrayPtr);
+               wuInput.m_startIndex = startIndex;
+               wuInput.m_endIndex = endIndex;
+
+               
+       
+               m_currentPageEntry++;
+
+               if (!batch)
+               {
+                       issueTask2();
+
+                       // find new task buffer
+                       for (unsigned int i = 0; i < m_maxNumOutstandingTasks; i++)
+                       {
+                               if (!m_taskBusy[i])
+                               {
+                                       m_currentTask = i;
+                                       //init the task data
+
+                                       break;
+                               }
+                       }
+
+                       m_currentPage = 0;
+                       m_currentPageEntry =0;
+               }
+       }
+}
+
+
+void 
+SpuCollisionTaskProcess::flush2()
+{
+#ifdef DEBUG_SPU_TASK_SCHEDULING
+       printf("\nSpuCollisionTaskProcess::flush()\n");
+#endif //DEBUG_SPU_TASK_SCHEDULING
+       
+       // if there's a partially filled task buffer, submit that task
+       if (m_currentPage > 0 || m_currentPageEntry > 0)
+       {
+               issueTask2();
+       }
+
+
+       // all tasks are issued, wait for all tasks to be complete
+       while(m_numBusyTasks > 0)
+       {
+         // Consolidating SPU code
+         unsigned int taskId=-1;
+         unsigned int outputSize;
+         
+         for (int i=0;i<int (m_maxNumOutstandingTasks);i++)
+         {
+                 if (m_taskBusy[i])
+                 {
+                         taskId = i;
+                         break;
+                 }
+         }
+
+         btAssert(taskId>=0);
+
+       
+         {
+                       
+               // SPURS support.
+                 m_threadInterface->waitForResponse(&taskId, &outputSize);
+         }
+//              printf("flush2 taskId %d completed, numBusy =%d \n",taskId,m_numBusyTasks);
+               //printf("PPU: flushing, received event: %u %d\n", taskId, outputSize);
+
+               //postProcess(taskId, outputSize);
+
+               m_taskBusy[taskId] = false;
+
+               m_numBusyTasks--;
+       }
+
+
+}

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuCollisionTaskProcess.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuCollisionTaskProcess.h
new file mode 100644 (file)
index 0000000..23b5b05
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuCollisionTaskProcess.h
@@ -0,0 +1,163 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_SPU_COLLISION_TASK_PROCESS_H
+#define BT_SPU_COLLISION_TASK_PROCESS_H
+
+#include <assert.h>
+
+#include "LinearMath/btScalar.h"
+
+#include "PlatformDefinitions.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h" // for definitions processCollisionTask and createCollisionLocalStoreMemory
+
+#include "btThreadSupportInterface.h"
+
+
+//#include "SPUAssert.h"
+#include <string.h>
+
+
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+#include "BulletCollision/CollisionShapes/btConvexShape.h"
+
+#include "LinearMath/btAlignedAllocator.h"
+
+#include <stdio.h>
+
+
+#define DEBUG_SpuCollisionTaskProcess 1
+
+
+#define CMD_GATHER_AND_PROCESS_PAIRLIST        1
+
+class btCollisionObject;
+class btPersistentManifold;
+class btDispatcher;
+
+
+/////Task Description for SPU collision detection
+//struct SpuGatherAndProcessPairsTaskDesc
+//{
+//     uint64_t        inPtr;//m_pairArrayPtr;
+//     //mutex variable
+//     uint32_t        m_someMutexVariableInMainMemory;
+//
+//     uint64_t        m_dispatcher;
+//
+//     uint32_t        numOnLastPage;
+//
+//     uint16_t numPages;
+//     uint16_t taskId;
+//
+//     struct  CollisionTask_LocalStoreMemory* m_lsMemory; 
+//}
+//
+//#if  defined(__CELLOS_LV2__) || defined(USE_LIBSPE2)
+//__attribute__ ((aligned (16)))
+//#endif
+//;
+
+
+///MidphaseWorkUnitInput stores individual primitive versus mesh collision detection input, to be processed by the SPU.
+ATTRIBUTE_ALIGNED16(struct) SpuGatherAndProcessWorkUnitInput
+{
+       uint64_t m_pairArrayPtr;
+       int             m_startIndex;
+       int             m_endIndex;
+};
+
+
+
+
+/// SpuCollisionTaskProcess handles SPU processing of collision pairs.
+/// Maintains a set of task buffers.
+/// When the task is full, the task is issued for SPUs to process.  Contact output goes into btPersistentManifold
+/// associated with each task.
+/// When PPU issues a task, it will look for completed task buffers
+/// PPU will do postprocessing, dependent on workunit output (not likely)
+class SpuCollisionTaskProcess
+{
+
+  unsigned char  *m_workUnitTaskBuffers;
+
+
+       // track task buffers that are being used, and total busy tasks
+       btAlignedObjectArray<bool>      m_taskBusy;
+       btAlignedObjectArray<SpuGatherAndProcessPairsTaskDesc>  m_spuGatherTaskDesc;
+
+       class   btThreadSupportInterface*       m_threadInterface;
+
+       unsigned int    m_maxNumOutstandingTasks;
+
+       unsigned int   m_numBusyTasks;
+
+       // the current task and the current entry to insert a new work unit
+       unsigned int   m_currentTask;
+       unsigned int   m_currentPage;
+       unsigned int   m_currentPageEntry;
+
+       bool m_useEpa;
+
+#ifdef DEBUG_SpuCollisionTaskProcess
+       bool m_initialized;
+#endif
+       void issueTask2();
+       //void postProcess(unsigned int taskId, int outputSize);
+
+public:
+       SpuCollisionTaskProcess(btThreadSupportInterface*       threadInterface, unsigned int maxNumOutstandingTasks);
+       
+       ~SpuCollisionTaskProcess();
+       
+       ///call initialize in the beginning of the frame, before addCollisionPairToTask
+       void initialize2(bool useEpa = false);
+
+       ///batch up additional work to a current task for SPU processing. When batch is full, it issues the task.
+       void addWorkToTask(void* pairArrayPtr,int startIndex,int endIndex);
+
+       ///call flush to submit potential outstanding work to SPUs and wait for all involved SPUs to be finished
+       void flush2();
+
+       /// set the maximum number of SPU tasks allocated
+       void    setNumTasks(int maxNumTasks);
+
+       int             getNumTasks() const
+       {
+               return m_maxNumOutstandingTasks;
+       }
+};
+
+
+
+#define MIDPHASE_TASK_PTR(task) (&m_workUnitTaskBuffers[0] + MIDPHASE_WORKUNIT_TASK_SIZE*task)
+#define MIDPHASE_ENTRY_PTR(task,page,entry) (MIDPHASE_TASK_PTR(task) + MIDPHASE_WORKUNIT_PAGE_SIZE*page + sizeof(SpuGatherAndProcessWorkUnitInput)*entry)
+#define MIDPHASE_OUTPUT_PTR(task) (&m_contactOutputBuffers[0] + MIDPHASE_MAX_CONTACT_BUFFER_SIZE*task)
+#define MIDPHASE_TREENODES_PTR(task) (&m_complexShapeBuffers[0] + MIDPHASE_COMPLEX_SHAPE_BUFFER_SIZE*task)
+
+
+#define MIDPHASE_WORKUNIT_PAGE_SIZE (16)
+//#define MIDPHASE_WORKUNIT_PAGE_SIZE (128)
+
+#define MIDPHASE_NUM_WORKUNIT_PAGES 1
+#define MIDPHASE_WORKUNIT_TASK_SIZE (MIDPHASE_WORKUNIT_PAGE_SIZE*MIDPHASE_NUM_WORKUNIT_PAGES)
+#define MIDPHASE_NUM_WORKUNITS_PER_PAGE (MIDPHASE_WORKUNIT_PAGE_SIZE / sizeof(SpuGatherAndProcessWorkUnitInput))
+#define MIDPHASE_NUM_WORKUNITS_PER_TASK (MIDPHASE_NUM_WORKUNITS_PER_PAGE*MIDPHASE_NUM_WORKUNIT_PAGES)
+
+
+#endif // BT_SPU_COLLISION_TASK_PROCESS_H
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.cpp b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.cpp
new file mode 100644 (file)
index 0000000..62cf4f0
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.cpp
@@ -0,0 +1,69 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "SpuContactManifoldCollisionAlgorithm.h"
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
+
+
+
+
+void SpuContactManifoldCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+       btAssert(0);
+}
+
+btScalar SpuContactManifoldCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+       btAssert(0);
+       return 1.f;
+}
+
+#ifndef __SPU__
+SpuContactManifoldCollisionAlgorithm::SpuContactManifoldCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObject* body0,const btCollisionObject* body1)
+:btCollisionAlgorithm(ci)
+#ifdef USE_SEPDISTANCE_UTIL
+,m_sepDistance(body0->getCollisionShape()->getAngularMotionDisc(),body1->getCollisionShape()->getAngularMotionDisc())
+#endif //USE_SEPDISTANCE_UTIL
+{
+       m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
+       m_shapeType0 = body0->getCollisionShape()->getShapeType();
+       m_shapeType1 = body1->getCollisionShape()->getShapeType();
+       m_collisionMargin0 = body0->getCollisionShape()->getMargin();
+       m_collisionMargin1 = body1->getCollisionShape()->getMargin();
+       m_collisionObject0 = body0;
+       m_collisionObject1 = body1;
+
+       if (body0->getCollisionShape()->isPolyhedral())
+       {
+               btPolyhedralConvexShape* convex0 = (btPolyhedralConvexShape*)body0->getCollisionShape();
+               m_shapeDimensions0 = convex0->getImplicitShapeDimensions();
+       }
+       if (body1->getCollisionShape()->isPolyhedral())
+       {
+               btPolyhedralConvexShape* convex1 = (btPolyhedralConvexShape*)body1->getCollisionShape();
+               m_shapeDimensions1 = convex1->getImplicitShapeDimensions();
+       }
+}
+#endif //__SPU__
+
+
+SpuContactManifoldCollisionAlgorithm::~SpuContactManifoldCollisionAlgorithm()
+{
+       if (m_manifoldPtr)
+                       m_dispatcher->releaseManifold(m_manifoldPtr);
+}

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h
new file mode 100644 (file)
index 0000000..14b0a94
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h
@@ -0,0 +1,121 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H
+#define BT_SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H
+
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
+#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
+#include "LinearMath/btTransformUtil.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
+
+class btPersistentManifold;
+
+//#define USE_SEPDISTANCE_UTIL 1
+
+/// SpuContactManifoldCollisionAlgorithm  provides contact manifold and should be processed on SPU.
+ATTRIBUTE_ALIGNED16(class) SpuContactManifoldCollisionAlgorithm : public btCollisionAlgorithm
+{
+       btVector3       m_shapeDimensions0;
+       btVector3       m_shapeDimensions1;
+       btPersistentManifold*   m_manifoldPtr;
+       int             m_shapeType0;
+       int             m_shapeType1;
+       float   m_collisionMargin0;
+       float   m_collisionMargin1;
+
+       const btCollisionObject*        m_collisionObject0;
+       const btCollisionObject*        m_collisionObject1;
+       
+       
+
+       
+public:
+       
+       virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+       virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+       
+       SpuContactManifoldCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObject* body0,const btCollisionObject* body1);
+#ifdef USE_SEPDISTANCE_UTIL
+       btConvexSeparatingDistanceUtil  m_sepDistance;
+#endif //USE_SEPDISTANCE_UTIL
+
+       virtual ~SpuContactManifoldCollisionAlgorithm();
+
+       virtual void    getAllContactManifolds(btManifoldArray& manifoldArray)
+       {
+               if (m_manifoldPtr)
+                       manifoldArray.push_back(m_manifoldPtr);
+       }
+
+       btPersistentManifold*   getContactManifoldPtr()
+       {
+               return m_manifoldPtr;
+       }
+
+       const btCollisionObject*        getCollisionObject0()
+       {
+               return m_collisionObject0;
+       }
+       
+       const btCollisionObject*        getCollisionObject1()
+       {
+               return m_collisionObject1;
+       }
+
+       int             getShapeType0() const
+       {
+               return m_shapeType0;
+       }
+
+       int             getShapeType1() const
+       {
+               return m_shapeType1;
+       }
+       float   getCollisionMargin0() const
+       {
+               return m_collisionMargin0;
+       }
+       float   getCollisionMargin1() const
+       {
+               return m_collisionMargin1;
+       }
+
+       const btVector3&        getShapeDimensions0() const
+       {
+               return m_shapeDimensions0;
+       }
+
+       const btVector3&        getShapeDimensions1() const
+       {
+               return m_shapeDimensions1;
+       }
+
+       struct CreateFunc :public       btCollisionAlgorithmCreateFunc
+       {
+        virtual        btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+               {
+                       void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(SpuContactManifoldCollisionAlgorithm));
+                       return new(mem) SpuContactManifoldCollisionAlgorithm(ci,body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
+               }
+       };
+
+};
+
+#endif //BT_SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuDoubleBuffer.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuDoubleBuffer.h
new file mode 100644 (file)
index 0000000..558d615
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuDoubleBuffer.h
@@ -0,0 +1,126 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#ifndef BT_DOUBLE_BUFFER_H
+#define BT_DOUBLE_BUFFER_H
+
+#include "SpuFakeDma.h"
+#include "LinearMath/btScalar.h"
+
+
+///DoubleBuffer
+template<class T, int size>
+class DoubleBuffer
+{
+#if defined(__SPU__) || defined(USE_LIBSPE2)
+       ATTRIBUTE_ALIGNED128( T m_buffer0[size] ) ;
+       ATTRIBUTE_ALIGNED128( T m_buffer1[size] ) ;
+#else
+       T m_buffer0[size];
+       T m_buffer1[size];
+#endif
+       
+       T *m_frontBuffer;
+       T *m_backBuffer;
+
+       unsigned int m_dmaTag;
+       bool m_dmaPending;
+public:
+       bool    isPending() const { return m_dmaPending;}
+       DoubleBuffer();
+
+       void init ();
+
+       // dma get and put commands
+       void backBufferDmaGet(uint64_t ea, unsigned int numBytes, unsigned int tag);
+       void backBufferDmaPut(uint64_t ea, unsigned int numBytes, unsigned int tag);
+
+       // gets pointer to a buffer
+       T *getFront();
+       T *getBack();
+
+       // if back buffer dma was started, wait for it to complete
+       // then move back to front and vice versa
+       T *swapBuffers();
+};
+
+template<class T, int size>
+DoubleBuffer<T,size>::DoubleBuffer()
+{
+       init ();
+}
+
+template<class T, int size>
+void DoubleBuffer<T,size>::init()
+{
+       this->m_dmaPending = false;
+       this->m_frontBuffer = &this->m_buffer0[0];
+       this->m_backBuffer = &this->m_buffer1[0];
+}
+
+template<class T, int size>
+void
+DoubleBuffer<T,size>::backBufferDmaGet(uint64_t ea, unsigned int numBytes, unsigned int tag)
+{
+       m_dmaPending = true;
+       m_dmaTag = tag;
+       if (numBytes)
+       {
+               m_backBuffer = (T*)cellDmaLargeGetReadOnly(m_backBuffer, ea, numBytes, tag, 0, 0);
+       }
+}
+
+template<class T, int size>
+void
+DoubleBuffer<T,size>::backBufferDmaPut(uint64_t ea, unsigned int numBytes, unsigned int tag)
+{
+       m_dmaPending = true;
+       m_dmaTag = tag;
+       cellDmaLargePut(m_backBuffer, ea, numBytes, tag, 0, 0);
+}
+
+template<class T, int size>
+T *
+DoubleBuffer<T,size>::getFront()
+{
+       return m_frontBuffer;
+}
+
+template<class T, int size>
+T *
+DoubleBuffer<T,size>::getBack()
+{
+       return m_backBuffer;
+}
+
+template<class T, int size>
+T *
+DoubleBuffer<T,size>::swapBuffers()
+{
+       if (m_dmaPending)
+       {
+               cellDmaWaitTagStatusAll(1<<m_dmaTag);
+               m_dmaPending = false;
+       }
+
+       T *tmp = m_backBuffer;
+       m_backBuffer = m_frontBuffer;
+       m_frontBuffer = tmp;
+
+       return m_frontBuffer;
+}
+
+#endif

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuFakeDma.cpp b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuFakeDma.cpp
new file mode 100644 (file)
index 0000000..b776a12
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuFakeDma.cpp
@@ -0,0 +1,215 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "SpuFakeDma.h"
+#include <LinearMath/btScalar.h> //for btAssert
+//Disabling memcpy sometimes helps debugging DMA
+
+#define USE_MEMCPY 1
+#ifdef USE_MEMCPY
+
+#endif
+
+
+void*  cellDmaLargeGetReadOnly(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid)
+{
+
+#if defined (__SPU__) || defined (USE_LIBSPE2)
+       cellDmaLargeGet(ls,ea,size,tag,tid,rid);
+       return ls;
+#else
+       return (void*)(ppu_address_t)ea;
+#endif
+}
+
+void*  cellDmaSmallGetReadOnly(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid)
+{
+#if defined (__SPU__) || defined (USE_LIBSPE2)
+       mfc_get(ls,ea,size,tag,0,0);
+       return ls;
+#else
+       return (void*)(ppu_address_t)ea;
+#endif
+}
+
+
+
+
+void*  cellDmaGetReadOnly(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid)
+{
+#if defined (__SPU__) || defined (USE_LIBSPE2)
+       cellDmaGet(ls,ea,size,tag,tid,rid);
+       return ls;
+#else
+       return (void*)(ppu_address_t)ea;
+#endif
+}
+
+
+///this unalignedDma should not be frequently used, only for small data. It handles alignment and performs check on size (<16 bytes)
+int stallingUnalignedDmaSmallGet(void *ls, uint64_t ea, uint32_t size)
+{
+       
+       btAssert(size<32);
+       
+       ATTRIBUTE_ALIGNED16(char        tmpBuffer[32]);
+
+
+       char* localStore = (char*)ls;
+       uint32_t i;
+       
+
+       ///make sure last 4 bits are the same, for cellDmaSmallGet
+       uint32_t last4BitsOffset = ea & 0x0f;
+       char* tmpTarget = tmpBuffer + last4BitsOffset;
+       
+#if defined (__SPU__) || defined (USE_LIBSPE2)
+       
+       int remainingSize = size;
+
+//#define FORCE_cellDmaUnalignedGet 1
+#ifdef FORCE_cellDmaUnalignedGet
+       cellDmaUnalignedGet(tmpTarget,ea,size,DMA_TAG(1),0,0);
+#else
+       char* remainingTmpTarget = tmpTarget;
+       uint64_t remainingEa = ea;
+
+       while (remainingSize)
+       {
+               switch (remainingSize)
+               {
+               case 1:
+               case 2:
+               case 4:
+               case 8:
+               case 16:
+                       {
+                               mfc_get(remainingTmpTarget,remainingEa,remainingSize,DMA_TAG(1),0,0);
+                               remainingSize=0;
+                               break;
+                       }
+               default:
+                       {
+                               //spu_printf("unaligned DMA with non-natural size:%d\n",remainingSize);
+                               int actualSize = 0;
+
+                               if (remainingSize > 16)
+                                       actualSize = 16;
+                               else
+                                       if (remainingSize >8)
+                                               actualSize=8;
+                                       else
+                                               if (remainingSize >4)
+                                                       actualSize=4;
+                                               else
+                                                       if (remainingSize >2)
+                                                               actualSize=2;
+                               mfc_get(remainingTmpTarget,remainingEa,actualSize,DMA_TAG(1),0,0);
+                               remainingSize-=actualSize;
+                               remainingTmpTarget+=actualSize;
+                               remainingEa += actualSize;
+                       }
+               }
+       }
+#endif//FORCE_cellDmaUnalignedGet
+
+#else
+       char* mainMem = (char*)ea;
+       //copy into final destination
+#ifdef USE_MEMCPY
+               
+               memcpy(tmpTarget,mainMem,size);
+#else
+               for ( i=0;i<size;i++)
+               {
+                       tmpTarget[i] = mainMem[i];
+               }
+#endif //USE_MEMCPY
+
+#endif
+
+       cellDmaWaitTagStatusAll(DMA_MASK(1));
+
+       //this is slowish, perhaps memcpy on SPU is smarter?
+       for (i=0; btLikely( i<size );i++)
+       {
+               localStore[i] = tmpTarget[i];
+       }
+
+       return 0;
+}
+
+#if defined (__SPU__) || defined (USE_LIBSPE2)
+#else
+
+int    cellDmaLargeGet(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid)
+{
+       char* mainMem = (char*)ea;
+       char* localStore = (char*)ls;
+
+#ifdef USE_MEMCPY
+       memcpy(localStore,mainMem,size);
+#else
+       for (uint32_t i=0;i<size;i++)
+       {
+               localStore[i] = mainMem[i];
+       }
+#endif
+       return 0;
+}
+
+int    cellDmaGet(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid)
+{
+       char* mainMem = (char*)ea;
+       char* localStore = (char*)ls;
+
+//     printf("mainMem=%x, localStore=%x",mainMem,localStore);
+
+#ifdef USE_MEMCPY
+       memcpy(localStore,mainMem,size);
+#else
+       for (uint32_t i=0;i<size;i++)
+       {
+               localStore[i] = mainMem[i];
+       }       
+#endif //#ifdef USE_MEMCPY
+//     printf(" finished\n");
+       return 0;
+}
+
+int cellDmaLargePut(const void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid)
+{
+       char* mainMem = (char*)ea;
+       const char* localStore = (const char*)ls;
+#ifdef USE_MEMCPY
+       memcpy(mainMem,localStore,size);
+#else
+       for (uint32_t i=0;i<size;i++)
+       {
+               mainMem[i] = localStore[i];
+       }       
+#endif //#ifdef USE_MEMCPY
+
+       return 0;
+}
+
+
+
+void   cellDmaWaitTagStatusAll(int ignore)
+{
+
+}
+
+#endif

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuFakeDma.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuFakeDma.h
new file mode 100644 (file)
index 0000000..40e2039
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuFakeDma.h
@@ -0,0 +1,135 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_FAKE_DMA_H
+#define BT_FAKE_DMA_H
+
+
+#include "PlatformDefinitions.h"
+#include "LinearMath/btScalar.h"
+
+
+#ifdef __SPU__
+
+#ifndef USE_LIBSPE2
+
+#include <cell/dma.h>
+#include <stdint.h>
+
+#define DMA_TAG(xfer) (xfer + 1)
+#define DMA_MASK(xfer) (1 << DMA_TAG(xfer))
+
+#else // !USE_LIBSPE2
+
+#define DMA_TAG(xfer) (xfer + 1)
+#define DMA_MASK(xfer) (1 << DMA_TAG(xfer))
+               
+#include <spu_mfcio.h>         
+               
+#define DEBUG_DMA              
+#ifdef DEBUG_DMA
+#define dUASSERT(a,b) if (!(a)) { printf(b);}
+#define uintsize ppu_address_t
+               
+#define cellDmaLargeGet(ls, ea, size, tag, tid, rid) if (  (((uintsize)ls%16) != ((uintsize)ea%16)) || ((((uintsize)ea%16) || ((uintsize)ls%16)) && (( ((uintsize)ls%16) != ((uintsize)size%16) ) || ( ((uintsize)ea%16) != ((uintsize)size%16) ) ) ) || ( ((uintsize)size%16) && ((uintsize)size!=1) && ((uintsize)size!=2) && ((uintsize)size!=4) && ((uintsize)size!=8) ) || (size >= 16384) || !(uintsize)ls || !(uintsize)ea) { \
+                                                                                                                       dUASSERT( (((uintsize)ea % 16) == 0) || (size < 16), "XDR Address not aligned: "); \
+                                                                                                                       dUASSERT( (((uintsize)ls % 16) == 0) || (size < 16), "LS Address not aligned: "); \
+                                                                                                                       dUASSERT( ((((uintsize)ls % size) == 0) && (((uintsize)ea % size) == 0))  || (size > 16), "Not naturally aligned: "); \
+                                                                                                                       dUASSERT((size == 1) || (size == 2) || (size == 4) || (size == 8) || ((size % 16) == 0), "size not a multiple of 16byte: "); \
+                                                                                                                       dUASSERT(size < 16384, "size too big: "); \
+                                                                                                                       dUASSERT( ((uintsize)ea%16)==((uintsize)ls%16), "wrong Quadword alignment of LS and EA: "); \
+                                                                                                               dUASSERT(ea != 0, "Nullpointer EA: "); dUASSERT(ls != 0, "Nullpointer LS: ");\
+                                                                                                                       printf("GET %s:%d from: 0x%x, to: 0x%x - %d bytes\n", __FILE__, __LINE__, (unsigned int)ea,(unsigned int)ls,(unsigned int)size);\
+                                                                                                                       } \
+                                                                                                                       mfc_get(ls, ea, size, tag, tid, rid)
+#define cellDmaGet(ls, ea, size, tag, tid, rid) if (  (((uintsize)ls%16) != ((uintsize)ea%16)) || ((((uintsize)ea%16) || ((uintsize)ls%16)) && (( ((uintsize)ls%16) != ((uintsize)size%16) ) || ( ((uintsize)ea%16) != ((uintsize)size%16) ) ) ) || ( ((uintsize)size%16) && ((uintsize)size!=1) && ((uintsize)size!=2) && ((uintsize)size!=4) && ((uintsize)size!=8) ) || (size >= 16384) || !(uintsize)ls || !(uintsize)ea) { \
+                                                                                                               dUASSERT( (((uintsize)ea % 16) == 0) || (size < 16), "XDR Address not aligned: "); \
+                                                                                                               dUASSERT( (((uintsize)ls % 16) == 0) || (size < 16), "LS Address not aligned: "); \
+                                                                                                               dUASSERT( ((((uintsize)ls % size) == 0) && (((uintsize)ea % size) == 0))  || (size > 16), "Not naturally aligned: "); \
+                                                                                                               dUASSERT((size == 1) || (size == 2) || (size == 4) || (size == 8) || ((size % 16) == 0), "size not a multiple of 16byte: "); \
+                                                                                                       dUASSERT(size < 16384, "size too big: "); \
+                                                                                                               dUASSERT( ((uintsize)ea%16)==((uintsize)ls%16), "wrong Quadword alignment of LS and EA: "); \
+                                                                                                       dUASSERT(ea != 0, "Nullpointer EA: "); dUASSERT(ls != 0, "Nullpointer LS: ");\
+                                                                                                       printf("GET %s:%d from: 0x%x, to: 0x%x - %d bytes\n", __FILE__, __LINE__, (unsigned int)ea,(unsigned int)ls,(unsigned int)size);\
+                                                                                                               } \
+                                                                                                               mfc_get(ls, ea, size, tag, tid, rid)
+#define cellDmaLargePut(ls, ea, size, tag, tid, rid) if (  (((uintsize)ls%16) != ((uintsize)ea%16)) || ((((uintsize)ea%16) || ((uintsize)ls%16)) && (( ((uintsize)ls%16) != ((uintsize)size%16) ) || ( ((uintsize)ea%16) != ((uintsize)size%16) ) ) ) || ( ((uintsize)size%16) && ((uintsize)size!=1) && ((uintsize)size!=2) && ((uintsize)size!=4) && ((uintsize)size!=8) ) || (size >= 16384) || !(uintsize)ls || !(uintsize)ea) { \
+                                                                                                                       dUASSERT( (((uintsize)ea % 16) == 0) || (size < 16), "XDR Address not aligned: "); \
+                                                                                                                       dUASSERT( (((uintsize)ls % 16) == 0) || (size < 16), "LS Address not aligned: "); \
+                                                                                                                       dUASSERT( ((((uintsize)ls % size) == 0) && (((uintsize)ea % size) == 0))  || (size > 16), "Not naturally aligned: "); \
+                                                                                                                       dUASSERT((size == 1) || (size == 2) || (size == 4) || (size == 8) || ((size % 16) == 0), "size not a multiple of 16byte: "); \
+                                                                                                               dUASSERT(size < 16384, "size too big: "); \
+                                                                                                                       dUASSERT( ((uintsize)ea%16)==((uintsize)ls%16), "wrong Quadword alignment of LS and EA: "); \
+                                                                                                               dUASSERT(ea != 0, "Nullpointer EA: "); dUASSERT(ls != 0, "Nullpointer LS: ");\
+                                                                                                               printf("PUT %s:%d from: 0x%x, to: 0x%x - %d bytes\n", __FILE__, __LINE__, (unsigned int)ls,(unsigned int)ea,(unsigned int)size); \
+                                                                                                                       } \
+                                                                                                                       mfc_put(ls, ea, size, tag, tid, rid)
+#define cellDmaSmallGet(ls, ea, size, tag, tid, rid) if (  (((uintsize)ls%16) != ((uintsize)ea%16)) || ((((uintsize)ea%16) || ((uintsize)ls%16)) && (( ((uintsize)ls%16) != ((uintsize)size%16) ) || ( ((uintsize)ea%16) != ((uintsize)size%16) ) ) ) || ( ((uintsize)size%16) && ((uintsize)size!=1) && ((uintsize)size!=2) && ((uintsize)size!=4) && ((uintsize)size!=8) ) || (size >= 16384) || !(uintsize)ls || !(uintsize)ea) { \
+                                                                                                                               dUASSERT( (((uintsize)ea % 16) == 0) || (size < 16), "XDR Address not aligned: "); \
+                                                                                                                               dUASSERT( (((uintsize)ls % 16) == 0) || (size < 16), "LS Address not aligned: "); \
+                                                                                                                               dUASSERT( ((((uintsize)ls % size) == 0) && (((uintsize)ea % size) == 0))  || (size > 16), "Not naturally aligned: "); \
+                                                                                                                       dUASSERT((size == 1) || (size == 2) || (size == 4) || (size == 8) || ((size % 16) == 0), "size not a multiple of 16byte: "); \
+                                                                                                                       dUASSERT(size < 16384, "size too big: "); \
+                                                                                                                       dUASSERT( ((uintsize)ea%16)==((uintsize)ls%16), "wrong Quadword alignment of LS and EA: "); \
+                                                                                                               dUASSERT(ea != 0, "Nullpointer EA: "); dUASSERT(ls != 0, "Nullpointer LS: ");\
+                                                                                                                       printf("GET %s:%d from: 0x%x, to: 0x%x - %d bytes\n", __FILE__, __LINE__, (unsigned int)ea,(unsigned int)ls,(unsigned int)size);\
+                                                                                                                               } \
+                                                                                                                               mfc_get(ls, ea, size, tag, tid, rid)
+#define cellDmaWaitTagStatusAll(ignore) mfc_write_tag_mask(ignore) ; mfc_read_tag_status_all()
+
+#else
+#define cellDmaLargeGet(ls, ea, size, tag, tid, rid) mfc_get(ls, ea, size, tag, tid, rid)
+#define cellDmaGet(ls, ea, size, tag, tid, rid) mfc_get(ls, ea, size, tag, tid, rid)
+#define cellDmaLargePut(ls, ea, size, tag, tid, rid) mfc_put(ls, ea, size, tag, tid, rid)
+#define cellDmaSmallGet(ls, ea, size, tag, tid, rid) mfc_get(ls, ea, size, tag, tid, rid)
+#define cellDmaWaitTagStatusAll(ignore) mfc_write_tag_mask(ignore) ; mfc_read_tag_status_all()
+#endif // DEBUG_DMA
+
+               
+               
+               
+               
+               
+               
+               
+#endif // USE_LIBSPE2
+#else // !__SPU__
+//Simulate DMA using memcpy or direct access on non-CELL platforms that don't have DMAs and SPUs (Win32, Mac, Linux etc)
+//Potential to add networked simulation using this interface
+
+#define DMA_TAG(a) (a)
+#define DMA_MASK(a) (a)
+
+               /// cellDmaLargeGet Win32 replacements for Cell DMA to allow simulating most of the SPU code (just memcpy)
+               int     cellDmaLargeGet(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid);
+               int     cellDmaGet(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid);
+               /// cellDmaLargePut Win32 replacements for Cell DMA to allow simulating most of the SPU code (just memcpy)
+               int cellDmaLargePut(const void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid);
+               /// cellDmaWaitTagStatusAll Win32 replacements for Cell DMA to allow simulating most of the SPU code (just memcpy)
+               void    cellDmaWaitTagStatusAll(int ignore);
+
+
+#endif //__CELLOS_LV2__
+
+///stallingUnalignedDmaSmallGet internally uses DMA_TAG(1)
+int    stallingUnalignedDmaSmallGet(void *ls, uint64_t ea, uint32_t size);
+
+
+void*  cellDmaLargeGetReadOnly(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid);
+void*  cellDmaGetReadOnly(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid);
+void*  cellDmaSmallGetReadOnly(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid);
+
+
+#endif //BT_FAKE_DMA_H

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuGatheringCollisionDispatcher.cpp b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuGatheringCollisionDispatcher.cpp
new file mode 100644 (file)
index 0000000..b9e88a0
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuGatheringCollisionDispatcher.cpp
@@ -0,0 +1,283 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "SpuGatheringCollisionDispatcher.h"
+#include "SpuCollisionTaskProcess.h"
+
+
+#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
+#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
+#include "SpuContactManifoldCollisionAlgorithm.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+#include "LinearMath/btQuickprof.h"
+#include "BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
+
+
+
+
+SpuGatheringCollisionDispatcher::SpuGatheringCollisionDispatcher(class btThreadSupportInterface*       threadInterface, unsigned int   maxNumOutstandingTasks,btCollisionConfiguration* collisionConfiguration)
+:btCollisionDispatcher(collisionConfiguration),
+m_spuCollisionTaskProcess(0),
+m_threadInterface(threadInterface),
+m_maxNumOutstandingTasks(maxNumOutstandingTasks)
+{
+       
+}
+
+
+bool   SpuGatheringCollisionDispatcher::supportsDispatchPairOnSpu(int proxyType0,int proxyType1)
+{
+       bool supported0 = (
+               (proxyType0 == BOX_SHAPE_PROXYTYPE) ||
+               (proxyType0 == TRIANGLE_SHAPE_PROXYTYPE) ||
+               (proxyType0 == SPHERE_SHAPE_PROXYTYPE) ||
+               (proxyType0 == CAPSULE_SHAPE_PROXYTYPE) ||
+               (proxyType0 == CYLINDER_SHAPE_PROXYTYPE) ||
+//             (proxyType0 == CONE_SHAPE_PROXYTYPE) ||
+               (proxyType0 == TRIANGLE_MESH_SHAPE_PROXYTYPE) ||
+               (proxyType0 == CONVEX_HULL_SHAPE_PROXYTYPE)||
+               (proxyType0 == STATIC_PLANE_PROXYTYPE)||
+               (proxyType0 == COMPOUND_SHAPE_PROXYTYPE)
+               );
+
+       bool supported1 = (
+               (proxyType1 == BOX_SHAPE_PROXYTYPE) ||
+               (proxyType1 == TRIANGLE_SHAPE_PROXYTYPE) ||
+               (proxyType1 == SPHERE_SHAPE_PROXYTYPE) ||
+               (proxyType1 == CAPSULE_SHAPE_PROXYTYPE) ||
+               (proxyType1 == CYLINDER_SHAPE_PROXYTYPE) ||
+//             (proxyType1 == CONE_SHAPE_PROXYTYPE) ||
+               (proxyType1 == TRIANGLE_MESH_SHAPE_PROXYTYPE) ||
+               (proxyType1 == CONVEX_HULL_SHAPE_PROXYTYPE) ||
+               (proxyType1 == STATIC_PLANE_PROXYTYPE) ||
+               (proxyType1 == COMPOUND_SHAPE_PROXYTYPE)
+               );
+
+       
+       return supported0 && supported1;
+}
+
+
+
+SpuGatheringCollisionDispatcher::~SpuGatheringCollisionDispatcher()
+{
+       if (m_spuCollisionTaskProcess)
+               delete m_spuCollisionTaskProcess;
+       
+}
+
+#include "stdio.h"
+
+
+
+///interface for iterating all overlapping collision pairs, no matter how those pairs are stored (array, set, map etc)
+///this is useful for the collision dispatcher.
+class btSpuCollisionPairCallback : public btOverlapCallback
+{
+       const btDispatcherInfo& m_dispatchInfo;
+       SpuGatheringCollisionDispatcher*        m_dispatcher;
+
+public:
+
+       btSpuCollisionPairCallback(const btDispatcherInfo& dispatchInfo, SpuGatheringCollisionDispatcher*       dispatcher)
+       :m_dispatchInfo(dispatchInfo),
+       m_dispatcher(dispatcher)
+       {
+       }
+
+       virtual bool    processOverlap(btBroadphasePair& collisionPair)
+       {
+
+
+               //PPU version
+               //(*m_dispatcher->getNearCallback())(collisionPair,*m_dispatcher,m_dispatchInfo);
+
+               //only support discrete collision detection for now, we could fallback on PPU/unoptimized version for TOI/CCD
+               btAssert(m_dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE);
+
+               //by default, Bullet will use this near callback
+               {
+                       ///userInfo is used to determine if the SPU has to handle this case or not (skip PPU tasks)
+                       if (!collisionPair.m_internalTmpValue)
+                       {
+                               collisionPair.m_internalTmpValue = 1;
+                       }
+                       if (!collisionPair.m_algorithm)
+                       {
+                               btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
+                               btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
+
+                               btCollisionAlgorithmConstructionInfo ci;
+                               ci.m_dispatcher1 = m_dispatcher;
+                               ci.m_manifold = 0;
+
+                               if (m_dispatcher->needsCollision(colObj0,colObj1))
+                               {
+                                       int     proxyType0 = colObj0->getCollisionShape()->getShapeType();
+                                       int     proxyType1 = colObj1->getCollisionShape()->getShapeType();
+                                       bool supportsSpuDispatch = m_dispatcher->supportsDispatchPairOnSpu(proxyType0,proxyType1) 
+                                               && ((colObj0->getCollisionFlags() & btCollisionObject::CF_DISABLE_SPU_COLLISION_PROCESSING) == 0)
+                                               && ((colObj1->getCollisionFlags() & btCollisionObject::CF_DISABLE_SPU_COLLISION_PROCESSING) == 0);
+
+                                       if (proxyType0 == COMPOUND_SHAPE_PROXYTYPE)
+                                       {
+                                               btCompoundShape* compound = (btCompoundShape*)colObj0->getCollisionShape();
+                                               if (compound->getNumChildShapes()>MAX_SPU_COMPOUND_SUBSHAPES)
+                                               {
+                                                       //printf("PPU fallback, compound->getNumChildShapes(%d)>%d\n",compound->getNumChildShapes(),MAX_SPU_COMPOUND_SUBSHAPES);
+                                                       supportsSpuDispatch = false;
+                                               }
+                                       }
+
+                                       if (proxyType1 == COMPOUND_SHAPE_PROXYTYPE)
+                                       {
+                                               btCompoundShape* compound = (btCompoundShape*)colObj1->getCollisionShape();
+                                               if (compound->getNumChildShapes()>MAX_SPU_COMPOUND_SUBSHAPES)
+                                               {
+                                                       //printf("PPU fallback, compound->getNumChildShapes(%d)>%d\n",compound->getNumChildShapes(),MAX_SPU_COMPOUND_SUBSHAPES);
+                                                       supportsSpuDispatch = false;
+                                               }
+                                       }
+
+                                       if (supportsSpuDispatch)
+                                       {
+
+                                               int so = sizeof(SpuContactManifoldCollisionAlgorithm);
+#ifdef ALLOCATE_SEPARATELY
+                                               void* mem = btAlignedAlloc(so,16);//m_dispatcher->allocateCollisionAlgorithm(so);
+#else
+                                               void* mem = m_dispatcher->allocateCollisionAlgorithm(so);
+#endif
+                                               collisionPair.m_algorithm = new(mem) SpuContactManifoldCollisionAlgorithm(ci,colObj0,colObj1);
+                                               collisionPair.m_internalTmpValue =  2;
+                                       } else
+                                       {
+                                               btCollisionObjectWrapper ob0(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform());
+                                               btCollisionObjectWrapper ob1(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform());
+
+                                               collisionPair.m_algorithm = m_dispatcher->findAlgorithm(&ob0,&ob1);
+                                               collisionPair.m_internalTmpValue = 3;
+                                       }
+                               } 
+                       }
+               }
+               return false;
+       }
+};
+
+void   SpuGatheringCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo, btDispatcher* dispatcher) 
+{
+
+       if (dispatchInfo.m_enableSPU)
+       {
+               m_maxNumOutstandingTasks = m_threadInterface->getNumTasks();
+
+               {
+                       BT_PROFILE("processAllOverlappingPairs");
+
+                       if (!m_spuCollisionTaskProcess)
+                               m_spuCollisionTaskProcess = new SpuCollisionTaskProcess(m_threadInterface,m_maxNumOutstandingTasks);
+               
+                       m_spuCollisionTaskProcess->setNumTasks(m_maxNumOutstandingTasks);
+       //              printf("m_maxNumOutstandingTasks =%d\n",m_maxNumOutstandingTasks);
+
+                       m_spuCollisionTaskProcess->initialize2(dispatchInfo.m_useEpa);
+                       
+               
+                       ///modified version of btCollisionDispatcher::dispatchAllCollisionPairs:
+                       {
+                               btSpuCollisionPairCallback      collisionCallback(dispatchInfo,this);
+
+                               pairCache->processAllOverlappingPairs(&collisionCallback,dispatcher);
+                       }
+               }
+
+               //send one big batch
+               int numTotalPairs = pairCache->getNumOverlappingPairs();
+               if (numTotalPairs)
+               {
+                       btBroadphasePair* pairPtr = pairCache->getOverlappingPairArrayPtr();
+                       int i;
+                       {
+                               int pairRange = SPU_BATCHSIZE_BROADPHASE_PAIRS;
+                               if (numTotalPairs < (m_spuCollisionTaskProcess->getNumTasks()*SPU_BATCHSIZE_BROADPHASE_PAIRS))
+                               {
+                                       pairRange = (numTotalPairs/m_spuCollisionTaskProcess->getNumTasks())+1;
+                               }
+       
+                               BT_PROFILE("addWorkToTask");
+                               for (i=0;i<numTotalPairs;)
+                               {
+                                       //Performance Hint: tweak this number during benchmarking
+                                       
+                                       int endIndex = (i+pairRange) < numTotalPairs ? i+pairRange : numTotalPairs;
+                                       m_spuCollisionTaskProcess->addWorkToTask(pairPtr,i,endIndex);
+                                       i = endIndex;
+                               }
+                       }
+                       {
+                               BT_PROFILE("PPU fallback");
+                               //handle PPU fallback pairs
+                               for (i=0;i<numTotalPairs;i++)
+                               {
+                                       btBroadphasePair& collisionPair = pairPtr[i];
+                                       if (collisionPair.m_internalTmpValue == 3)
+                                       {
+                                               if (collisionPair.m_algorithm)
+                                               {
+                                                       btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
+                                                       btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
+       
+                                                       if (dispatcher->needsCollision(colObj0,colObj1))
+                                                       {
+                                                       //discrete collision detection query
+                                                               btCollisionObjectWrapper ob0(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform());
+                                                               btCollisionObjectWrapper ob1(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform());
+
+                                                               btManifoldResult contactPointResult(&ob0,&ob1);
+                                                               
+                                                               if (dispatchInfo.m_dispatchFunc ==              btDispatcherInfo::DISPATCH_DISCRETE)
+                                                               {
+                                                                       
+                                                                       collisionPair.m_algorithm->processCollision(&ob0,&ob1,dispatchInfo,&contactPointResult);
+                                                               } else
+                                                               {
+                                                                       //continuous collision detection query, time of impact (toi)
+                                                                       btScalar toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0,colObj1,dispatchInfo,&contactPointResult);
+                                                                       if (dispatchInfo.m_timeOfImpact > toi)
+                                                                               dispatchInfo.m_timeOfImpact = toi;
+       
+                                                               }
+                                                       }
+                                               }
+                                       }
+                               }
+                       }
+               }
+               {
+                       BT_PROFILE("flush2");
+                       //make sure all SPU work is done
+                       m_spuCollisionTaskProcess->flush2();
+               }
+
+       } else
+       {
+               ///PPU fallback
+               ///!Need to make sure to clear all 'algorithms' when switching between SPU and PPU
+               btCollisionDispatcher::dispatchAllCollisionPairs(pairCache,dispatchInfo,dispatcher);
+       }
+}

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h
new file mode 100644 (file)
index 0000000..f8bc7da
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h
@@ -0,0 +1,72 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+#ifndef BT_SPU_GATHERING_COLLISION__DISPATCHER_H
+#define BT_SPU_GATHERING_COLLISION__DISPATCHER_H
+
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+
+
+///Tuning value to optimized SPU utilization 
+///Too small value means Task overhead is large compared to computation (too fine granularity)
+///Too big value might render some SPUs are idle, while a few other SPUs are doing all work.
+//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 8
+//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 16
+//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 64
+#define SPU_BATCHSIZE_BROADPHASE_PAIRS 128
+//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 256
+//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 512
+//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 1024
+
+
+
+class SpuCollisionTaskProcess;
+
+///SpuGatheringCollisionDispatcher can use SPU to gather and calculate collision detection
+///Time of Impact, Closest Points and Penetration Depth.
+class SpuGatheringCollisionDispatcher : public btCollisionDispatcher
+{
+       
+       SpuCollisionTaskProcess*        m_spuCollisionTaskProcess;
+       
+protected:
+
+       class   btThreadSupportInterface*       m_threadInterface;
+
+       unsigned int    m_maxNumOutstandingTasks;
+       
+
+public:
+
+       //can be used by SPU collision algorithms       
+       SpuCollisionTaskProcess*        getSpuCollisionTaskProcess()
+       {
+                       return m_spuCollisionTaskProcess;
+       }
+       
+       SpuGatheringCollisionDispatcher (class  btThreadSupportInterface*       threadInterface, unsigned int   maxNumOutstandingTasks,btCollisionConfiguration* collisionConfiguration);
+       
+       virtual ~SpuGatheringCollisionDispatcher();
+
+       bool    supportsDispatchPairOnSpu(int proxyType0,int proxyType1);
+
+       virtual void    dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) ;
+
+};
+
+
+
+#endif //BT_SPU_GATHERING_COLLISION__DISPATCHER_H
+
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuLibspe2Support.cpp b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuLibspe2Support.cpp
new file mode 100644 (file)
index 0000000..a312450
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuLibspe2Support.cpp
@@ -0,0 +1,257 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifdef USE_LIBSPE2
+
+#include "SpuLibspe2Support.h"
+
+
+
+
+//SpuLibspe2Support helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
+///Setup and initialize SPU/CELL/Libspe2
+SpuLibspe2Support::SpuLibspe2Support(spe_program_handle_t *speprog, int numThreads)
+{
+       this->program = speprog;
+       this->numThreads =  ((numThreads <= spe_cpu_info_get(SPE_COUNT_PHYSICAL_SPES, -1)) ? numThreads : spe_cpu_info_get(SPE_COUNT_PHYSICAL_SPES, -1));
+}
+
+///cleanup/shutdown Libspe2
+SpuLibspe2Support::~SpuLibspe2Support()
+{
+       
+       stopSPU();
+}
+
+
+
+///send messages to SPUs
+void SpuLibspe2Support::sendRequest(uint32_t uiCommand, uint32_t uiArgument0, uint32_t uiArgument1)
+{
+       spe_context_ptr_t context;
+       
+       switch (uiCommand)
+       {
+       case CMD_SAMPLE_TASK_COMMAND:
+       {
+               //get taskdescription
+               SpuSampleTaskDesc* taskDesc = (SpuSampleTaskDesc*) uiArgument0;
+
+               btAssert(taskDesc->m_taskId<m_activeSpuStatus.size());
+
+               //get status of SPU on which task should run
+               btSpuStatus&    spuStatus = m_activeSpuStatus[taskDesc->m_taskId];
+
+               //set data for spuStatus
+               spuStatus.m_commandId = uiCommand;
+               spuStatus.m_status = Spu_Status_Occupied; //set SPU as "occupied"
+               spuStatus.m_taskDesc.p = taskDesc; 
+               
+               //get context
+               context = data[taskDesc->m_taskId].context;
+               
+               
+               taskDesc->m_mainMemoryPtr = reinterpret_cast<uint64_t> (spuStatus.m_lsMemory.p);
+               
+
+               break;
+       }
+       case CMD_GATHER_AND_PROCESS_PAIRLIST:
+               {
+                       //get taskdescription
+                       SpuGatherAndProcessPairsTaskDesc* taskDesc = (SpuGatherAndProcessPairsTaskDesc*) uiArgument0;
+
+                       btAssert(taskDesc->taskId<m_activeSpuStatus.size());
+
+                       //get status of SPU on which task should run
+                       btSpuStatus&    spuStatus = m_activeSpuStatus[taskDesc->taskId];
+
+                       //set data for spuStatus
+                       spuStatus.m_commandId = uiCommand;
+                       spuStatus.m_status = Spu_Status_Occupied; //set SPU as "occupied"
+                       spuStatus.m_taskDesc.p = taskDesc; 
+                       
+                       //get context
+                       context = data[taskDesc->taskId].context;
+                       
+                       
+                       taskDesc->m_lsMemory = (CollisionTask_LocalStoreMemory*)spuStatus.m_lsMemory.p;
+                       
+                       break;
+               }
+       default:
+               {
+                       ///not implemented
+                       btAssert(0);
+               }
+
+       };
+
+       
+       //write taskdescription in mailbox
+       unsigned int event = Spu_Mailbox_Event_Task;
+       spe_in_mbox_write(context, &event, 1, SPE_MBOX_ANY_NONBLOCKING);
+
+}
+
+///check for messages from SPUs
+void SpuLibspe2Support::waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1)
+{
+       ///We should wait for (one of) the first tasks to finish (or other SPU messages), and report its response
+       
+       ///A possible response can be 'yes, SPU handled it', or 'no, please do a PPU fallback'
+       
+       btAssert(m_activeSpuStatus.size());
+
+       
+       int last = -1;
+       
+       //find an active spu/thread
+       while(last < 0)
+       {
+               for (int i=0;i<m_activeSpuStatus.size();i++)
+               {
+                       if ( m_activeSpuStatus[i].m_status == Spu_Status_Free)
+                       {
+                               last = i;
+                               break;
+                       }
+               }
+               if(last < 0)
+                       sched_yield();
+       }
+
+
+
+       btSpuStatus& spuStatus = m_activeSpuStatus[last];
+
+       ///need to find an active spu
+       btAssert(last>=0);
+
+       
+
+       *puiArgument0 = spuStatus.m_taskId;
+       *puiArgument1 = spuStatus.m_status;
+
+
+}
+
+
+void SpuLibspe2Support::startSPU()
+{
+       this->internal_startSPU();
+}
+
+
+
+///start the spus group (can be called at the beginning of each frame, to make sure that the right SPU program is loaded)
+void SpuLibspe2Support::internal_startSPU()
+{
+       m_activeSpuStatus.resize(numThreads);
+       
+       
+       for (int i=0; i < numThreads; i++)
+       {
+               
+               if(data[i].context == NULL) 
+               {
+                                       
+                        /* Create context */
+                       if ((data[i].context = spe_context_create(0, NULL)) == NULL)
+                       {
+                             perror ("Failed creating context");
+                         exit(1);
+                       }
+       
+                       /* Load program into context */
+                       if(spe_program_load(data[i].context, this->program))
+                       {
+                             perror ("Failed loading program");
+                         exit(1);
+                       }
+                       
+                       m_activeSpuStatus[i].m_status = Spu_Status_Startup; 
+                       m_activeSpuStatus[i].m_taskId = i; 
+                       m_activeSpuStatus[i].m_commandId = 0; 
+                       m_activeSpuStatus[i].m_lsMemory.p = NULL; 
+                       
+                       
+                       data[i].entry = SPE_DEFAULT_ENTRY;
+                       data[i].flags = 0;
+                       data[i].argp.p = &m_activeSpuStatus[i];
+                       data[i].envp.p = NULL;
+                       
+                   /* Create thread for each SPE context */
+                       if (pthread_create(&data[i].pthread, NULL, &ppu_pthread_function, &(data[i]) ))
+                       {
+                             perror ("Failed creating thread");
+                         exit(1);
+                       }
+                       /*
+                       else
+                       {
+                               printf("started thread %d\n",i);
+                       }*/
+               }               
+       }
+       
+       
+       for (int i=0; i < numThreads; i++)
+       {
+               if(data[i].context != NULL) 
+               {
+                       while( m_activeSpuStatus[i].m_status == Spu_Status_Startup)
+                       {
+                               // wait for spu to set up
+                               sched_yield();
+                       }
+                       printf("Spu %d is ready\n", i);
+               }
+       }
+}
+
+///tell the task scheduler we are done with the SPU tasks
+void SpuLibspe2Support::stopSPU()
+{
+       // wait for all threads to finish 
+       int i;
+       for ( i = 0; i < this->numThreads; i++ ) 
+       { 
+               
+               unsigned int event = Spu_Mailbox_Event_Shutdown;
+               spe_context_ptr_t context = data[i].context;
+               spe_in_mbox_write(context, &event, 1, SPE_MBOX_ALL_BLOCKING);
+               pthread_join (data[i].pthread, NULL); 
+               
+       } 
+       // close SPE program 
+       spe_image_close(program); 
+       // destroy SPE contexts 
+       for ( i = 0; i < this->numThreads; i++ ) 
+       { 
+               if(data[i].context != NULL)
+               {
+                       spe_context_destroy (data[i].context);
+               }
+       } 
+       
+       m_activeSpuStatus.clear();
+       
+}
+
+
+
+#endif //USE_LIBSPE2
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuLibspe2Support.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuLibspe2Support.h
new file mode 100644 (file)
index 0000000..37a5e79
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuLibspe2Support.h
@@ -0,0 +1,180 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#ifndef BT_SPU_LIBSPE2_SUPPORT_H
+#define BT_SPU_LIBSPE2_SUPPORT_H
+
+#include <LinearMath/btScalar.h> //for uint32_t etc.
+
+#ifdef USE_LIBSPE2
+
+#include <stdlib.h>
+#include <stdio.h>
+//#include "SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
+#include "PlatformDefinitions.h"
+
+
+//extern struct SpuGatherAndProcessPairsTaskDesc;
+
+enum
+{
+       Spu_Mailbox_Event_Nothing = 0,
+       Spu_Mailbox_Event_Task = 1,
+       Spu_Mailbox_Event_Shutdown = 2,
+       
+       Spu_Mailbox_Event_ForceDword = 0xFFFFFFFF
+       
+};
+
+enum
+{
+       Spu_Status_Free = 0,
+       Spu_Status_Occupied = 1,
+       Spu_Status_Startup = 2,
+       
+       Spu_Status_ForceDword = 0xFFFFFFFF
+       
+};
+
+
+struct btSpuStatus
+{
+       uint32_t        m_taskId;
+       uint32_t        m_commandId;
+       uint32_t        m_status;
+
+       addr64 m_taskDesc;
+       addr64 m_lsMemory;
+       
+}
+__attribute__ ((aligned (128)))
+;
+
+
+
+#ifndef __SPU__
+
+#include "LinearMath/btAlignedObjectArray.h"
+#include "SpuCollisionTaskProcess.h"
+#include "SpuSampleTaskProcess.h"
+#include "btThreadSupportInterface.h"
+#include <libspe2.h>
+#include <pthread.h>
+#include <sched.h>
+
+#define MAX_SPUS 4 
+
+typedef struct ppu_pthread_data 
+{
+       spe_context_ptr_t context;
+       pthread_t pthread;
+       unsigned int entry;
+       unsigned int flags;
+       addr64 argp;
+       addr64 envp;
+       spe_stop_info_t stopinfo;
+} ppu_pthread_data_t;
+
+
+static void *ppu_pthread_function(void *arg)
+{
+    ppu_pthread_data_t * datap = (ppu_pthread_data_t *)arg;
+    /*
+    int rc;
+    do 
+    {*/
+        spe_context_run(datap->context, &datap->entry, datap->flags, datap->argp.p, datap->envp.p, &datap->stopinfo);
+        if (datap->stopinfo.stop_reason == SPE_EXIT) 
+        {
+           if (datap->stopinfo.result.spe_exit_code != 0) 
+           {
+             perror("FAILED: SPE returned a non-zero exit status: \n");
+             exit(1);
+           }
+         } 
+        else 
+         {
+           perror("FAILED: SPE abnormally terminated\n");
+           exit(1);
+         }
+        
+        
+    //} while (rc > 0); // loop until exit or error, and while any stop & signal
+    pthread_exit(NULL);
+}
+
+
+
+
+
+
+///SpuLibspe2Support helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
+class SpuLibspe2Support : public btThreadSupportInterface
+{
+
+       btAlignedObjectArray<btSpuStatus>       m_activeSpuStatus;
+       
+public:
+       //Setup and initialize SPU/CELL/Libspe2
+       SpuLibspe2Support(spe_program_handle_t *speprog,int numThreads);
+       
+       // SPE program handle ptr.
+       spe_program_handle_t *program;
+       
+       // SPE program data
+       ppu_pthread_data_t data[MAX_SPUS];
+       
+       //cleanup/shutdown Libspe2
+       ~SpuLibspe2Support();
+
+       ///send messages to SPUs
+       void sendRequest(uint32_t uiCommand, uint32_t uiArgument0, uint32_t uiArgument1=0);
+
+       //check for messages from SPUs
+       void waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1);
+
+       //start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded)
+       virtual void startSPU();
+
+       //tell the task scheduler we are done with the SPU tasks
+       virtual void stopSPU();
+
+       virtual void setNumTasks(int numTasks)
+       {
+               //changing the number of tasks after initialization is not implemented (yet)
+       }
+
+private:
+       
+       ///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded)
+       void internal_startSPU();
+
+
+       
+       
+       int numThreads;
+
+};
+
+#endif // NOT __SPU__
+
+#endif //USE_LIBSPE2
+
+#endif //BT_SPU_LIBSPE2_SUPPORT_H
+
+
+
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/Box.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/Box.h
new file mode 100644 (file)
index 0000000..e517961
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/Box.h
@@ -0,0 +1,167 @@
+/*
+   Copyright (C) 2006, 2008 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+*/
+
+#ifndef __BOX_H__
+#define __BOX_H__
+
+
+#ifndef PE_REF
+#define PE_REF(a) a&
+#endif
+
+#include <math.h>
+
+
+#include "../PlatformDefinitions.h"
+
+
+
+
+enum FeatureType { F, E, V };
+
+//----------------------------------------------------------------------------
+// Box
+//----------------------------------------------------------------------------
+///The Box is an internal class used by the boxBoxDistance calculation.
+class Box
+{
+public:
+       vmVector3 mHalf;
+
+       inline Box()
+       {}
+       inline Box(PE_REF(vmVector3) half_);
+       inline Box(float hx, float hy, float hz);
+
+       inline void Set(PE_REF(vmVector3) half_);
+       inline void Set(float hx, float hy, float hz);
+
+       inline vmVector3 GetAABB(const vmMatrix3& rotation) const;
+};
+
+inline
+Box::Box(PE_REF(vmVector3) half_)
+{
+       Set(half_);
+}
+
+inline
+Box::Box(float hx, float hy, float hz)
+{
+       Set(hx, hy, hz);
+}
+
+inline
+void
+Box::Set(PE_REF(vmVector3) half_)
+{
+       mHalf = half_;
+}
+
+inline
+void
+Box::Set(float hx, float hy, float hz)
+{
+       mHalf = vmVector3(hx, hy, hz);
+}
+
+inline
+vmVector3
+Box::GetAABB(const vmMatrix3& rotation) const
+{
+       return absPerElem(rotation) * mHalf;
+}
+
+//-------------------------------------------------------------------------------------------------
+// BoxPoint
+//-------------------------------------------------------------------------------------------------
+
+///The BoxPoint class is an internally used class to contain feature information for boxBoxDistance calculation.
+class BoxPoint
+{
+public:
+       BoxPoint() : localPoint(0.0f) {}
+
+       vmPoint3      localPoint;
+       FeatureType featureType;
+       int         featureIdx;
+
+       inline void setVertexFeature(int plusX, int plusY, int plusZ);
+       inline void setEdgeFeature(int dim0, int plus0, int dim1, int plus1);
+       inline void setFaceFeature(int dim, int plus);
+
+       inline void getVertexFeature(int & plusX, int & plusY, int & plusZ) const;
+       inline void getEdgeFeature(int & dim0, int & plus0, int & dim1, int & plus1) const;
+       inline void getFaceFeature(int & dim, int & plus) const;
+};
+
+inline
+void
+BoxPoint::setVertexFeature(int plusX, int plusY, int plusZ)
+{
+       featureType = V;
+       featureIdx = plusX << 2 | plusY << 1 | plusZ;
+}
+
+inline
+void
+BoxPoint::setEdgeFeature(int dim0, int plus0, int dim1, int plus1)
+{
+       featureType = E;
+
+       if (dim0 > dim1) {
+               featureIdx = plus1 << 5 | dim1 << 3 | plus0 << 2 | dim0;
+       } else {
+               featureIdx = plus0 << 5 | dim0 << 3 | plus1 << 2 | dim1;
+       }
+}
+
+inline
+void
+BoxPoint::setFaceFeature(int dim, int plus)
+{
+       featureType = F;
+       featureIdx = plus << 2 | dim;
+}
+
+inline
+void
+BoxPoint::getVertexFeature(int & plusX, int & plusY, int & plusZ) const
+{
+       plusX = featureIdx >> 2;
+       plusY = featureIdx >> 1 & 1;
+       plusZ = featureIdx & 1;
+}
+
+inline
+void
+BoxPoint::getEdgeFeature(int & dim0, int & plus0, int & dim1, int & plus1) const
+{
+       plus0 = featureIdx >> 5;
+       dim0 = featureIdx >> 3 & 3;
+       plus1 = featureIdx >> 2 & 1;
+       dim1 = featureIdx & 3;
+}
+
+inline
+void
+BoxPoint::getFaceFeature(int & dim, int & plus) const
+{
+       plus = featureIdx >> 2;
+       dim = featureIdx & 3;
+}
+
+#endif /* __BOX_H__ */

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp
new file mode 100644 (file)
index 0000000..8d755b2
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp
@@ -0,0 +1,302 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#include "SpuCollisionShapes.h"
+
+///not supported on IBM SDK, until we fix the alignment of btVector3
+#if defined (__CELLOS_LV2__) && defined (__SPU__)
+#include <spu_intrinsics.h>
+static inline vec_float4 vec_dot3( vec_float4 vec0, vec_float4 vec1 )
+{
+    vec_float4 result;
+    result = spu_mul( vec0, vec1 );
+    result = spu_madd( spu_rlqwbyte( vec0, 4 ), spu_rlqwbyte( vec1, 4 ), result );
+    return spu_madd( spu_rlqwbyte( vec0, 8 ), spu_rlqwbyte( vec1, 8 ), result );
+}
+#endif //__SPU__
+
+
+void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape* convexShape, ppu_address_t convexShapePtr, int shapeType, const btTransform& xform)
+{
+       //calculate the aabb, given the types...
+       switch (shapeType)
+       {
+       case CYLINDER_SHAPE_PROXYTYPE:
+               /* fall through */
+       case BOX_SHAPE_PROXYTYPE:
+       {
+               btScalar margin=convexShape->getMarginNV();
+               btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
+               halfExtents += btVector3(margin,margin,margin);
+               const btTransform& t = xform;
+               btMatrix3x3 abs_b = t.getBasis().absolute();  
+               btVector3 center = t.getOrigin();
+        btVector3 extent = halfExtents.dot3( abs_b[0], abs_b[1], abs_b[2] );
+               
+               aabbMin = center - extent;
+               aabbMax = center + extent;
+               break;
+       }
+       case CAPSULE_SHAPE_PROXYTYPE:
+       {
+               btScalar margin=convexShape->getMarginNV();
+               btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
+               //add the radius to y-axis to get full height
+               btScalar radius = halfExtents[0];
+               halfExtents[1] += radius;
+               halfExtents += btVector3(margin,margin,margin);
+#if 0
+               int capsuleUpAxis = convexShape->getUpAxis();
+               btScalar halfHeight = convexShape->getHalfHeight();
+               btScalar radius = convexShape->getRadius();
+               halfExtents[capsuleUpAxis] = radius + halfHeight;
+#endif
+               const btTransform& t = xform;
+               btMatrix3x3 abs_b = t.getBasis().absolute();  
+               btVector3 center = t.getOrigin();
+        btVector3 extent = halfExtents.dot3( abs_b[0], abs_b[1], abs_b[2] );
+               
+               aabbMin = center - extent;
+               aabbMax = center + extent;
+               break;
+       }
+       case SPHERE_SHAPE_PROXYTYPE:
+       {
+               btScalar radius = convexShape->getImplicitShapeDimensions().getX();// * convexShape->getLocalScaling().getX();
+               btScalar margin = radius + convexShape->getMarginNV();
+               const btTransform& t = xform;
+               const btVector3& center = t.getOrigin();
+               btVector3 extent(margin,margin,margin);
+               aabbMin = center - extent;
+               aabbMax = center + extent;
+               break;
+       }
+       case CONVEX_HULL_SHAPE_PROXYTYPE:
+       {
+               ATTRIBUTE_ALIGNED16(char convexHullShape0[sizeof(btConvexHullShape)]);
+               cellDmaGet(&convexHullShape0, convexShapePtr  , sizeof(btConvexHullShape), DMA_TAG(1), 0, 0);
+               cellDmaWaitTagStatusAll(DMA_MASK(1));
+               btConvexHullShape* localPtr = (btConvexHullShape*)&convexHullShape0;
+               const btTransform& t = xform;
+               btScalar margin = convexShape->getMarginNV();
+               localPtr->getNonvirtualAabb(t,aabbMin,aabbMax,margin);
+               //spu_printf("SPU convex aabbMin=%f,%f,%f=\n",aabbMin.getX(),aabbMin.getY(),aabbMin.getZ());
+               //spu_printf("SPU convex aabbMax=%f,%f,%f=\n",aabbMax.getX(),aabbMax.getY(),aabbMax.getZ());
+               break;
+       }
+       default:
+               {
+       //      spu_printf("SPU: unsupported shapetype %d in AABB calculation\n");
+               }
+       };
+}
+
+void dmaBvhShapeData (bvhMeshShape_LocalStoreMemory* bvhMeshShape, btBvhTriangleMeshShape* triMeshShape)
+{
+       register int dmaSize;
+       register ppu_address_t  dmaPpuAddress2;
+
+       dmaSize = sizeof(btTriangleIndexVertexArray);
+       dmaPpuAddress2 = reinterpret_cast<ppu_address_t>(triMeshShape->getMeshInterface());
+       //      spu_printf("trimeshShape->getMeshInterface() == %llx\n",dmaPpuAddress2);
+#ifdef __SPU__
+       cellDmaGet(&bvhMeshShape->gTriangleMeshInterfaceStorage, dmaPpuAddress2  , dmaSize, DMA_TAG(1), 0, 0);
+       bvhMeshShape->gTriangleMeshInterfacePtr = &bvhMeshShape->gTriangleMeshInterfaceStorage;
+#else
+       bvhMeshShape->gTriangleMeshInterfacePtr = (btTriangleIndexVertexArray*)cellDmaGetReadOnly(&bvhMeshShape->gTriangleMeshInterfaceStorage, dmaPpuAddress2  , dmaSize, DMA_TAG(1), 0, 0);
+#endif
+
+       //cellDmaWaitTagStatusAll(DMA_MASK(1));
+       
+       ///now DMA over the BVH
+       
+       dmaSize = sizeof(btOptimizedBvh);
+       dmaPpuAddress2 = reinterpret_cast<ppu_address_t>(triMeshShape->getOptimizedBvh());
+       //spu_printf("trimeshShape->getOptimizedBvh() == %llx\n",dmaPpuAddress2);
+       cellDmaGet(&bvhMeshShape->gOptimizedBvh, dmaPpuAddress2  , dmaSize, DMA_TAG(2), 0, 0);
+       //cellDmaWaitTagStatusAll(DMA_MASK(2));
+       cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
+}
+
+void dmaBvhIndexedMesh (btIndexedMesh* IndexMesh, IndexedMeshArray& indexArray, int index, uint32_t dmaTag)
+{              
+       cellDmaGet(IndexMesh, (ppu_address_t)&indexArray[index]  , sizeof(btIndexedMesh), DMA_TAG(dmaTag), 0, 0);
+       
+}
+
+void dmaBvhSubTreeHeaders (btBvhSubtreeInfo* subTreeHeaders, ppu_address_t subTreePtr, int batchSize, uint32_t dmaTag)
+{
+       cellDmaGet(subTreeHeaders, subTreePtr, batchSize * sizeof(btBvhSubtreeInfo), DMA_TAG(dmaTag), 0, 0);
+}
+
+void dmaBvhSubTreeNodes (btQuantizedBvhNode* nodes, const btBvhSubtreeInfo& subtree, QuantizedNodeArray&       nodeArray, int dmaTag)
+{
+       cellDmaGet(nodes, reinterpret_cast<ppu_address_t>(&nodeArray[subtree.m_rootNodeIndex]) , subtree.m_subtreeSize* sizeof(btQuantizedBvhNode), DMA_TAG(2), 0, 0);
+}
+
+///getShapeTypeSize could easily be optimized, but it is not likely a bottleneck
+int            getShapeTypeSize(int shapeType)
+{
+
+
+       switch (shapeType)
+       {
+       case CYLINDER_SHAPE_PROXYTYPE:
+               {
+                       int shapeSize = sizeof(btCylinderShape);
+                       btAssert(shapeSize < MAX_SHAPE_SIZE);
+                       return shapeSize;
+               }
+       case BOX_SHAPE_PROXYTYPE:
+               {
+                       int shapeSize = sizeof(btBoxShape);
+                       btAssert(shapeSize < MAX_SHAPE_SIZE);
+                       return shapeSize;
+               }
+       case SPHERE_SHAPE_PROXYTYPE:
+               {
+                       int shapeSize = sizeof(btSphereShape);
+                       btAssert(shapeSize < MAX_SHAPE_SIZE);
+                       return shapeSize;
+               }
+       case TRIANGLE_MESH_SHAPE_PROXYTYPE:
+               {
+                       int shapeSize = sizeof(btBvhTriangleMeshShape);
+                       btAssert(shapeSize < MAX_SHAPE_SIZE);
+                       return shapeSize;
+               }
+       case CAPSULE_SHAPE_PROXYTYPE:
+               {
+                       int shapeSize = sizeof(btCapsuleShape);
+                       btAssert(shapeSize < MAX_SHAPE_SIZE);
+                       return shapeSize;
+               }
+
+       case CONVEX_HULL_SHAPE_PROXYTYPE:
+               {
+                       int shapeSize = sizeof(btConvexHullShape);
+                       btAssert(shapeSize < MAX_SHAPE_SIZE);
+                       return shapeSize;
+               }
+
+       case COMPOUND_SHAPE_PROXYTYPE:
+               {
+                       int shapeSize = sizeof(btCompoundShape);
+                       btAssert(shapeSize < MAX_SHAPE_SIZE);
+                       return shapeSize;
+               }
+       case STATIC_PLANE_PROXYTYPE:
+               {
+                       int shapeSize = sizeof(btStaticPlaneShape);
+                       btAssert(shapeSize < MAX_SHAPE_SIZE);
+                       return shapeSize;
+               }
+
+       default:
+               btAssert(0);
+               //unsupported shapetype, please add here
+               return 0;
+       }
+}
+
+void dmaConvexVertexData (SpuConvexPolyhedronVertexData* convexVertexData, btConvexHullShape* convexShapeSPU)
+{
+       convexVertexData->gNumConvexPoints = convexShapeSPU->getNumPoints();
+       if (convexVertexData->gNumConvexPoints>MAX_NUM_SPU_CONVEX_POINTS)
+       {
+               btAssert(0);
+       //      spu_printf("SPU: Error: MAX_NUM_SPU_CONVEX_POINTS(%d) exceeded: %d\n",MAX_NUM_SPU_CONVEX_POINTS,convexVertexData->gNumConvexPoints);
+               return;
+       }
+                       
+       register int dmaSize = convexVertexData->gNumConvexPoints*sizeof(btVector3);
+       ppu_address_t pointsPPU = (ppu_address_t) convexShapeSPU->getUnscaledPoints();
+       cellDmaGet(&convexVertexData->g_convexPointBuffer[0], pointsPPU  , dmaSize, DMA_TAG(2), 0, 0);
+}
+
+void dmaCollisionShape (void* collisionShapeLocation, ppu_address_t collisionShapePtr, uint32_t dmaTag, int shapeType)
+{
+       register int dmaSize = getShapeTypeSize(shapeType);
+       cellDmaGet(collisionShapeLocation, collisionShapePtr  , dmaSize, DMA_TAG(dmaTag), 0, 0);
+       //cellDmaGetReadOnly(collisionShapeLocation, collisionShapePtr  , dmaSize, DMA_TAG(dmaTag), 0, 0);
+       //cellDmaWaitTagStatusAll(DMA_MASK(dmaTag));
+}
+
+void dmaCompoundShapeInfo (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag)
+{
+       register int dmaSize;
+       register        ppu_address_t   dmaPpuAddress2;
+       int childShapeCount = spuCompoundShape->getNumChildShapes();
+       dmaSize = childShapeCount * sizeof(btCompoundShapeChild);
+       dmaPpuAddress2 = (ppu_address_t)spuCompoundShape->getChildList();
+       cellDmaGet(&compoundShapeLocation->gSubshapes[0], dmaPpuAddress2, dmaSize, DMA_TAG(dmaTag), 0, 0);
+}
+
+void dmaCompoundSubShapes (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag)
+{
+       int childShapeCount = spuCompoundShape->getNumChildShapes();
+       int i;
+       // DMA all the subshapes 
+       for ( i = 0; i < childShapeCount; ++i)
+       {
+               btCompoundShapeChild& childShape = compoundShapeLocation->gSubshapes[i];
+               dmaCollisionShape (&compoundShapeLocation->gSubshapeShape[i],(ppu_address_t)childShape.m_childShape, dmaTag, childShape.m_childShapeType);
+       }
+}
+
+
+void   spuWalkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,const btQuantizedBvhNode* rootNode,int startNodeIndex,int endNodeIndex)
+{
+
+       int curIndex = startNodeIndex;
+       int walkIterations = 0;
+#ifdef BT_DEBUG
+       int subTreeSize = endNodeIndex - startNodeIndex;
+#endif
+
+       int escapeIndex;
+
+       unsigned int aabbOverlap, isLeafNode;
+
+       while (curIndex < endNodeIndex)
+       {
+               //catch bugs in tree data
+               btAssert (walkIterations < subTreeSize);
+
+               walkIterations++;
+               aabbOverlap = spuTestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode->m_quantizedAabbMin,rootNode->m_quantizedAabbMax);
+               isLeafNode = rootNode->isLeafNode();
+
+               if (isLeafNode && aabbOverlap)
+               {
+                       //printf("overlap with node %d\n",rootNode->getTriangleIndex());
+                       nodeCallback->processNode(0,rootNode->getTriangleIndex());
+                       //                      spu_printf("SPU: overlap detected with triangleIndex:%d\n",rootNode->getTriangleIndex());
+               } 
+
+               if (aabbOverlap || isLeafNode)
+               {
+                       rootNode++;
+                       curIndex++;
+               } else
+               {
+                       escapeIndex = rootNode->getEscapeIndex();
+                       rootNode += escapeIndex;
+                       curIndex += escapeIndex;
+               }
+       }
+
+}

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h
new file mode 100644 (file)
index 0000000..aa8a291
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h
@@ -0,0 +1,128 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+#ifndef __SPU_COLLISION_SHAPES_H
+#define __SPU_COLLISION_SHAPES_H
+
+#include "../SpuDoubleBuffer.h"
+
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
+#include "BulletCollision/CollisionShapes/btCylinderShape.h"
+#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
+
+#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
+#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
+#include "BulletCollision/CollisionShapes/btSphereShape.h"
+
+#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
+
+#include "BulletCollision/CollisionShapes/btConvexShape.h"
+#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
+#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
+#include "BulletCollision/CollisionShapes/btCompoundShape.h"
+
+#define MAX_NUM_SPU_CONVEX_POINTS 128 //@fallback to PPU if a btConvexHullShape has more than MAX_NUM_SPU_CONVEX_POINTS points
+#define MAX_SPU_COMPOUND_SUBSHAPES 16 //@fallback on PPU if compound has more than MAX_SPU_COMPOUND_SUBSHAPES child shapes
+#define MAX_SHAPE_SIZE 256 //@todo: assert on this
+
+ATTRIBUTE_ALIGNED16(struct)    SpuConvexPolyhedronVertexData
+{
+       void*   gSpuConvexShapePtr;
+       btVector3* gConvexPoints;
+       int gNumConvexPoints;
+       int unused;
+       ATTRIBUTE_ALIGNED16(btVector3 g_convexPointBuffer[MAX_NUM_SPU_CONVEX_POINTS]);
+};
+
+
+
+ATTRIBUTE_ALIGNED16(struct) CollisionShape_LocalStoreMemory
+{
+       ATTRIBUTE_ALIGNED16(char collisionShape[MAX_SHAPE_SIZE]);
+};
+
+ATTRIBUTE_ALIGNED16(struct) CompoundShape_LocalStoreMemory
+{
+       // Compound data
+
+       ATTRIBUTE_ALIGNED16(btCompoundShapeChild gSubshapes[MAX_SPU_COMPOUND_SUBSHAPES]);
+       ATTRIBUTE_ALIGNED16(char gSubshapeShape[MAX_SPU_COMPOUND_SUBSHAPES][MAX_SHAPE_SIZE]);
+};
+
+ATTRIBUTE_ALIGNED16(struct) bvhMeshShape_LocalStoreMemory
+{
+       //ATTRIBUTE_ALIGNED16(btOptimizedBvh    gOptimizedBvh);
+       ATTRIBUTE_ALIGNED16(char gOptimizedBvh[sizeof(btOptimizedBvh)+16]);
+       btOptimizedBvh* getOptimizedBvh()
+       {
+               return (btOptimizedBvh*) gOptimizedBvh;
+       }
+
+       ATTRIBUTE_ALIGNED16(btTriangleIndexVertexArray  gTriangleMeshInterfaceStorage);
+       btTriangleIndexVertexArray*     gTriangleMeshInterfacePtr;
+       ///only a single mesh part for now, we can add support for multiple parts, but quantized trees don't support this at the moment 
+       ATTRIBUTE_ALIGNED16(btIndexedMesh       gIndexMesh);
+       #define MAX_SPU_SUBTREE_HEADERS 32
+       //1024
+       ATTRIBUTE_ALIGNED16(btBvhSubtreeInfo    gSubtreeHeaders[MAX_SPU_SUBTREE_HEADERS]);
+       ATTRIBUTE_ALIGNED16(btQuantizedBvhNode  gSubtreeNodes[MAX_SUBTREE_SIZE_IN_BYTES/sizeof(btQuantizedBvhNode)]);
+};
+
+
+void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape* convexShape, ppu_address_t convexShapePtr, int shapeType, const btTransform& xform);
+void dmaBvhShapeData (bvhMeshShape_LocalStoreMemory* bvhMeshShape, btBvhTriangleMeshShape* triMeshShape);
+void dmaBvhIndexedMesh (btIndexedMesh* IndexMesh, IndexedMeshArray& indexArray, int index, uint32_t dmaTag);
+void dmaBvhSubTreeHeaders (btBvhSubtreeInfo* subTreeHeaders, ppu_address_t subTreePtr, int batchSize, uint32_t dmaTag);
+void dmaBvhSubTreeNodes (btQuantizedBvhNode* nodes, const btBvhSubtreeInfo& subtree, QuantizedNodeArray&       nodeArray, int dmaTag);
+
+int  getShapeTypeSize(int shapeType);
+void dmaConvexVertexData (SpuConvexPolyhedronVertexData* convexVertexData, btConvexHullShape* convexShapeSPU);
+void dmaCollisionShape (void* collisionShapeLocation, ppu_address_t collisionShapePtr, uint32_t dmaTag, int shapeType);
+void dmaCompoundShapeInfo (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag);
+void dmaCompoundSubShapes (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag);
+
+
+#define USE_BRANCHFREE_TEST 1
+#ifdef USE_BRANCHFREE_TEST
+SIMD_FORCE_INLINE unsigned int spuTestQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
+{              
+#if defined(__CELLOS_LV2__) && defined (__SPU__)
+       vec_ushort8 vecMin = {aabbMin1[0],aabbMin2[0],aabbMin1[2],aabbMin2[2],aabbMin1[1],aabbMin2[1],0,0};
+       vec_ushort8 vecMax = {aabbMax2[0],aabbMax1[0],aabbMax2[2],aabbMax1[2],aabbMax2[1],aabbMax1[1],0,0};
+       vec_ushort8 isGt = spu_cmpgt(vecMin,vecMax);
+       return spu_extract(spu_gather(isGt),0)==0;
+
+#else
+       return btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0])
+               & (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2])
+               & (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
+               1, 0);
+#endif
+}
+#else
+
+SIMD_FORCE_INLINE unsigned int spuTestQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int*  aabbMax2)
+{
+       unsigned int overlap = 1;
+       overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? 0 : overlap;
+       overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? 0 : overlap;
+       overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? 0 : overlap;
+       return overlap;
+}
+#endif
+
+void   spuWalkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,const btQuantizedBvhNode* rootNode,int startNodeIndex,int endNodeIndex);
+
+#endif

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.cpp b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.cpp
new file mode 100644 (file)
index 0000000..8584e74
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.cpp
@@ -0,0 +1,248 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "SpuContactResult.h"
+
+//#define DEBUG_SPU_COLLISION_DETECTION 1
+
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+#ifndef __SPU__
+#include <stdio.h>
+#define spu_printf printf
+#endif
+#endif //DEBUG_SPU_COLLISION_DETECTION
+
+SpuContactResult::SpuContactResult()
+{
+       m_manifoldAddress = 0;
+       m_spuManifold = NULL;
+       m_RequiresWriteBack = false;
+}
+
+ SpuContactResult::~SpuContactResult()
+{
+       g_manifoldDmaExport.swapBuffers();
+}
+
+       ///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
+inline btScalar        calculateCombinedFriction(btScalar friction0,btScalar friction1)
+{
+       btScalar friction = friction0*friction1;
+
+       const btScalar MAX_FRICTION  = btScalar(10.);
+
+       if (friction < -MAX_FRICTION)
+               friction = -MAX_FRICTION;
+       if (friction > MAX_FRICTION)
+               friction = MAX_FRICTION;
+       return friction;
+
+}
+
+inline btScalar        calculateCombinedRestitution(btScalar restitution0,btScalar restitution1)
+{
+       return restitution0*restitution1;
+}
+
+
+
+ void  SpuContactResult::setContactInfo(btPersistentManifold* spuManifold, ppu_address_t       manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, btScalar restitution0,btScalar restitution1, btScalar friction0,btScalar friction1, bool isSwapped)
+ {
+       //spu_printf("SpuContactResult::setContactInfo ManifoldAddress: %lu\n", manifoldAddress);
+       m_rootWorldTransform0 = worldTrans0;
+       m_rootWorldTransform1 = worldTrans1;
+       m_manifoldAddress = manifoldAddress;    
+       m_spuManifold = spuManifold;
+
+       m_combinedFriction = calculateCombinedFriction(friction0,friction1);
+       m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
+       m_isSwapped = isSwapped;
+ }
+
+ void SpuContactResult::setShapeIdentifiersA(int partId0,int index0)
+ {
+       
+ }
+
+ void SpuContactResult::setShapeIdentifiersB(int partId1,int index1)
+ {
+       
+ }
+
+
+
+ ///return true if it requires a dma transfer back
+bool ManifoldResultAddContactPoint(const btVector3& normalOnBInWorld,
+                                                                  const btVector3& pointInWorld,
+                                                                  float depth,
+                                                                  btPersistentManifold* manifoldPtr,
+                                                                  btTransform& transA,
+                                                                  btTransform& transB,
+                                                                       btScalar        combinedFriction,
+                                                                       btScalar        combinedRestitution,
+                                                                  bool isSwapped)
+{
+       
+//     float contactTreshold = manifoldPtr->getContactBreakingThreshold();
+
+       //spu_printf("SPU: add contactpoint, depth:%f, contactTreshold %f, manifoldPtr %llx\n",depth,contactTreshold,manifoldPtr);
+
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+       spu_printf("SPU: contactTreshold %f\n",contactTreshold);
+#endif //DEBUG_SPU_COLLISION_DETECTION
+       if (depth > manifoldPtr->getContactBreakingThreshold())
+               return false;
+
+       //if (depth > manifoldPtr->getContactProcessingThreshold())
+       //      return false;
+
+
+
+       btVector3 pointA;
+       btVector3 localA;
+       btVector3 localB;
+       btVector3 normal;
+
+
+       if (isSwapped)
+       {
+               normal = normalOnBInWorld * -1;
+               pointA = pointInWorld + normal * depth;
+               localA = transA.invXform(pointA );
+               localB = transB.invXform(pointInWorld);
+       }
+       else
+       {
+               normal = normalOnBInWorld;
+               pointA = pointInWorld + normal * depth;
+               localA = transA.invXform(pointA );
+               localB = transB.invXform(pointInWorld);
+       }
+
+       btManifoldPoint newPt(localA,localB,normal,depth);
+       newPt.m_positionWorldOnA = pointA;
+       newPt.m_positionWorldOnB = pointInWorld;
+
+       newPt.m_combinedFriction = combinedFriction;
+       newPt.m_combinedRestitution = combinedRestitution;
+
+
+       int insertIndex = manifoldPtr->getCacheEntry(newPt);
+       if (insertIndex >= 0)
+       {
+               // we need to replace the current contact point, otherwise small errors will accumulate (spheres start rolling etc)
+               manifoldPtr->replaceContactPoint(newPt,insertIndex);
+               return true;
+               
+       } else
+       {
+
+               /*
+               ///@todo: SPU callbacks, either immediate (local on the SPU), or deferred
+               //User can override friction and/or restitution
+               if (gContactAddedCallback &&
+                       //and if either of the two bodies requires custom material
+                        ((m_body0->m_collisionFlags & btCollisionObject::customMaterialCallback) ||
+                          (m_body1->m_collisionFlags & btCollisionObject::customMaterialCallback)))
+               {
+                       //experimental feature info, for per-triangle material etc.
+                       (*gContactAddedCallback)(newPt,m_body0,m_partId0,m_index0,m_body1,m_partId1,m_index1);
+               }
+               */
+
+               manifoldPtr->addManifoldPoint(newPt);
+               return true;
+
+       }
+       return false;
+       
+}
+
+
+void SpuContactResult::writeDoubleBufferedManifold(btPersistentManifold* lsManifold, btPersistentManifold* mmManifold)
+{
+       ///only write back the contact information on SPU. Other platforms avoid copying, and use the data in-place
+       ///see SpuFakeDma.cpp 'cellDmaLargeGetReadOnly'
+#if defined (__SPU__) || defined (USE_LIBSPE2)
+    memcpy(g_manifoldDmaExport.getFront(),lsManifold,sizeof(btPersistentManifold));
+
+    g_manifoldDmaExport.swapBuffers();
+    ppu_address_t mmAddr = (ppu_address_t)mmManifold;
+    g_manifoldDmaExport.backBufferDmaPut(mmAddr, sizeof(btPersistentManifold), DMA_TAG(9));
+       // Should there be any kind of wait here?  What if somebody tries to use this tag again?  What if we call this function again really soon?
+       //no, the swapBuffers does the wait
+#endif
+}
+
+void SpuContactResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
+{
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+       spu_printf("*** SpuContactResult::addContactPoint: depth = %f\n",depth);
+       spu_printf("*** normal = %f,%f,%f\n",normalOnBInWorld.getX(),normalOnBInWorld.getY(),normalOnBInWorld.getZ());
+       spu_printf("*** position = %f,%f,%f\n",pointInWorld.getX(),pointInWorld.getY(),pointInWorld.getZ());
+#endif //DEBUG_SPU_COLLISION_DETECTION
+       
+
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+ //   int sman = sizeof(rage::phManifold);
+//     spu_printf("sizeof_manifold = %i\n",sman);
+#endif //DEBUG_SPU_COLLISION_DETECTION
+
+       btPersistentManifold* localManifold = m_spuManifold;
+
+       btVector3       normalB(normalOnBInWorld.getX(),normalOnBInWorld.getY(),normalOnBInWorld.getZ());
+       btVector3       pointWrld(pointInWorld.getX(),pointInWorld.getY(),pointInWorld.getZ());
+
+       //process the contact point
+       const bool retVal = ManifoldResultAddContactPoint(normalB,
+               pointWrld,
+               depth,
+               localManifold,
+               m_rootWorldTransform0,
+               m_rootWorldTransform1,
+               m_combinedFriction,
+               m_combinedRestitution,
+               m_isSwapped);
+       m_RequiresWriteBack = m_RequiresWriteBack || retVal;
+}
+
+void SpuContactResult::flush()
+{
+
+       if (m_spuManifold && m_spuManifold->getNumContacts())
+       {
+               m_spuManifold->refreshContactPoints(m_rootWorldTransform0,m_rootWorldTransform1);
+               m_RequiresWriteBack = true;
+       }
+
+
+       if (m_RequiresWriteBack)
+       {
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+               spu_printf("SPU: Start SpuContactResult::flush (Put) DMA\n");
+               spu_printf("Num contacts:%d\n", m_spuManifold->getNumContacts());
+               spu_printf("Manifold address: %llu\n", m_manifoldAddress);
+#endif //DEBUG_SPU_COLLISION_DETECTION
+       //      spu_printf("writeDoubleBufferedManifold\n");
+               writeDoubleBufferedManifold(m_spuManifold, (btPersistentManifold*)m_manifoldAddress);
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+               spu_printf("SPU: Finished (Put) DMA\n");
+#endif //DEBUG_SPU_COLLISION_DETECTION
+       }
+       m_spuManifold = NULL;
+       m_RequiresWriteBack = false;
+}
+
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h
new file mode 100644 (file)
index 0000000..394f56d
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h
@@ -0,0 +1,106 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef SPU_CONTACT_RESULT2_H
+#define SPU_CONTACT_RESULT2_H
+
+
+#ifndef _WIN32
+#include <stdint.h>
+#endif
+
+
+
+#include "../SpuDoubleBuffer.h"
+
+
+#include "LinearMath/btTransform.h"
+
+
+#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
+#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
+
+class btCollisionShape;
+
+
+struct SpuCollisionPairInput
+{
+       ppu_address_t m_collisionShapes[2];
+       btCollisionShape*       m_spuCollisionShapes[2];
+
+       ppu_address_t m_persistentManifoldPtr;
+       btVector3       m_primitiveDimensions0;
+       btVector3       m_primitiveDimensions1;
+       int             m_shapeType0;
+       int             m_shapeType1;   
+       float   m_collisionMargin0;
+       float   m_collisionMargin1;
+
+       btTransform     m_worldTransform0;
+       btTransform m_worldTransform1;
+       
+       bool    m_isSwapped;
+       bool    m_useEpa;
+};
+
+
+struct SpuClosestPointInput : public btDiscreteCollisionDetectorInterface::ClosestPointInput
+{
+       struct SpuConvexPolyhedronVertexData* m_convexVertexData[2];
+};
+
+///SpuContactResult exports the contact points using double-buffered DMA transfers, only when needed
+///So when an existing contact point is duplicated, no transfer/refresh is performed.
+class SpuContactResult : public btDiscreteCollisionDetectorInterface::Result
+{
+    btTransform                m_rootWorldTransform0;
+       btTransform             m_rootWorldTransform1;
+       ppu_address_t   m_manifoldAddress;
+
+    btPersistentManifold* m_spuManifold;
+       bool m_RequiresWriteBack;
+       btScalar        m_combinedFriction;
+       btScalar        m_combinedRestitution;
+       
+       bool m_isSwapped;
+
+       DoubleBuffer<btPersistentManifold, 1> g_manifoldDmaExport;
+
+       public:
+               SpuContactResult();
+               virtual ~SpuContactResult();
+
+               btPersistentManifold*   GetSpuManifold() const
+               {
+                       return m_spuManifold;
+               }
+
+               virtual void setShapeIdentifiersA(int partId0,int index0);
+               virtual void setShapeIdentifiersB(int partId1,int index1);
+
+               void    setContactInfo(btPersistentManifold* spuManifold, ppu_address_t manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, btScalar restitution0,btScalar restitution1, btScalar friction0,btScalar friction01, bool isSwapped);
+
+
+        void writeDoubleBufferedManifold(btPersistentManifold* lsManifold, btPersistentManifold* mmManifold);
+
+        virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth);
+
+               void flush();
+};
+
+
+
+#endif //SPU_CONTACT_RESULT2_H
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h
new file mode 100644 (file)
index 0000000..449f192
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h
@@ -0,0 +1,51 @@
+
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#ifndef SPU_CONVEX_PENETRATION_DEPTH_H
+#define SPU_CONVEX_PENETRATION_DEPTH_H
+
+
+
+class btStackAlloc;
+class btIDebugDraw;
+#include "BulletCollision/NarrowphaseCollision/btConvexPenetrationDepthSolver.h"
+
+#include "LinearMath/btTransform.h"
+
+
+///ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
+class SpuConvexPenetrationDepthSolver : public btConvexPenetrationDepthSolver
+{
+public:        
+       
+       virtual ~SpuConvexPenetrationDepthSolver() {};
+       virtual bool calcPenDepth( SpuVoronoiSimplexSolver& simplexSolver,
+               void* convexA,void* convexB,int shapeTypeA, int shapeTypeB, float marginA, float marginB,
+            btTransform& transA,const btTransform& transB,
+                       btVector3& v, btVector3& pa, btVector3& pb,
+                       class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc,
+                       struct SpuConvexPolyhedronVertexData* convexVertexDataA,
+                       struct SpuConvexPolyhedronVertexData* convexVertexDataB
+                       ) const = 0;
+
+
+};
+
+
+
+#endif //SPU_CONVEX_PENETRATION_DEPTH_H
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp
new file mode 100644 (file)
index 0000000..46e4d98
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp
@@ -0,0 +1,1432 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "SpuGatheringCollisionTask.h"
+
+//#define DEBUG_SPU_COLLISION_DETECTION 1
+#include "../SpuDoubleBuffer.h"
+
+#include "../SpuCollisionTaskProcess.h"
+#include "../SpuGatheringCollisionDispatcher.h" //for SPU_BATCHSIZE_BROADPHASE_PAIRS
+
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "../SpuContactManifoldCollisionAlgorithm.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "SpuContactResult.h"
+#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
+#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
+#include "BulletCollision/CollisionShapes/btSphereShape.h"
+#include "BulletCollision/CollisionShapes/btConvexPointCloudShape.h"
+
+#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
+
+#include "BulletCollision/CollisionShapes/btConvexShape.h"
+#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
+#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
+#include "BulletCollision/CollisionShapes/btCompoundShape.h"
+
+#include "SpuMinkowskiPenetrationDepthSolver.h"
+//#include "SpuEpaPenetrationDepthSolver.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
+
+
+#include "boxBoxDistance.h"
+#include "BulletMultiThreaded/vectormath2bullet.h"
+#include "SpuCollisionShapes.h" //definition of SpuConvexPolyhedronVertexData
+#include "BulletCollision/CollisionDispatch/btBoxBoxDetector.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
+#include "BulletCollision/CollisionShapes/btTriangleShape.h"
+
+#ifdef __SPU__
+///Software caching from the IBM Cell SDK, it reduces 25% SPU time for our test cases
+#ifndef USE_LIBSPE2
+//#define USE_SOFTWARE_CACHE 1
+#endif
+#endif //__SPU__
+
+int gSkippedCol = 0;
+int gProcessedCol = 0;
+
+////////////////////////////////////////////////
+/// software caching
+#if USE_SOFTWARE_CACHE
+#include <spu_intrinsics.h>
+#include <sys/spu_thread.h>
+#include <sys/spu_event.h>
+#include <stdint.h>
+#define SPE_CACHE_NWAY                 4
+//#define SPE_CACHE_NSETS              32, 16
+#define SPE_CACHE_NSETS                8
+//#define SPE_CACHELINE_SIZE           512
+#define SPE_CACHELINE_SIZE             128
+#define SPE_CACHE_SET_TAGID(set)       15
+///make sure that spe_cache.h is below those defines!
+#include "../Extras/software_cache/cache/include/spe_cache.h"
+
+
+int g_CacheMisses=0;
+int g_CacheHits=0;
+
+#if 0 // Added to allow cache misses and hits to be tracked, change this to 1 to restore unmodified version
+#define spe_cache_read(ea)             _spe_cache_lookup_xfer_wait_(ea, 0, 1)
+#else
+#define spe_cache_read(ea)             \
+({                                                             \
+    int set, idx, line, byte;                                  \
+    _spe_cache_nway_lookup_(ea, set, idx);                     \
+                                                               \
+    if (btUnlikely(idx < 0)) {                                 \
+        ++g_CacheMisses;                        \
+           idx = _spe_cache_miss_(ea, set, -1);                        \
+        spu_writech(22, SPE_CACHE_SET_TAGMASK(set));           \
+        spu_mfcstat(MFC_TAG_UPDATE_ALL);                       \
+    }                                                          \
+    else                            \
+    {                               \
+        ++g_CacheHits;              \
+    }                               \
+    line = _spe_cacheline_num_(set, idx);                      \
+    byte = _spe_cacheline_byte_offset_(ea);                    \
+    (void *) &spe_cache_mem[line + byte];                      \
+})
+
+#endif
+
+#endif // USE_SOFTWARE_CACHE
+
+bool gUseEpa = false;
+
+#ifdef USE_SN_TUNER
+#include <LibSN_SPU.h>
+#endif //USE_SN_TUNER
+
+#if defined (__SPU__) && !defined (USE_LIBSPE2)
+#include <spu_printf.h>
+#elif defined (USE_LIBSPE2)
+#define spu_printf(a)
+#else
+#define IGNORE_ALIGNMENT 1
+#include <stdio.h>
+#include <stdlib.h>
+#define spu_printf printf
+
+#endif
+
+//int gNumConvexPoints0=0;
+
+///Make sure no destructors are called on this memory
+struct CollisionTask_LocalStoreMemory
+{
+       ///This CollisionTask_LocalStoreMemory is mainly used for the SPU version, using explicit DMA
+       ///Other platforms can use other memory programming models.
+
+       ATTRIBUTE_ALIGNED16(btBroadphasePair    gBroadphasePairsBuffer[SPU_BATCHSIZE_BROADPHASE_PAIRS]);
+       DoubleBuffer<unsigned char, MIDPHASE_WORKUNIT_PAGE_SIZE> g_workUnitTaskBuffers;
+       ATTRIBUTE_ALIGNED16(char gSpuContactManifoldAlgoBuffer [sizeof(SpuContactManifoldCollisionAlgorithm)+16]);
+       ATTRIBUTE_ALIGNED16(char gColObj0Buffer [sizeof(btCollisionObject)+16]);
+       ATTRIBUTE_ALIGNED16(char gColObj1Buffer [sizeof(btCollisionObject)+16]);
+       ///we reserve 32bit integer indices, even though they might be 16bit
+       ATTRIBUTE_ALIGNED16(int spuIndices[16]);
+       btPersistentManifold    gPersistentManifoldBuffer;
+       CollisionShape_LocalStoreMemory gCollisionShapes[2];
+       bvhMeshShape_LocalStoreMemory bvhShapeData;
+       SpuConvexPolyhedronVertexData convexVertexData[2];
+       CompoundShape_LocalStoreMemory compoundShapeData[2];
+               
+       ///The following pointers might either point into this local store memory, or to the original/other memory locations.
+       ///See SpuFakeDma for implementation of cellDmaSmallGetReadOnly.
+       btCollisionObject*      m_lsColObj0Ptr;
+       btCollisionObject*      m_lsColObj1Ptr;
+       btBroadphasePair* m_pairsPointer;
+       btPersistentManifold*   m_lsManifoldPtr;
+       SpuContactManifoldCollisionAlgorithm*   m_lsCollisionAlgorithmPtr;
+
+       bool    needsDmaPutContactManifoldAlgo;
+
+       btCollisionObject* getColObj0()
+       {
+               return m_lsColObj0Ptr;
+       }
+       btCollisionObject* getColObj1()
+       {
+               return m_lsColObj1Ptr;
+       }
+
+
+       btBroadphasePair* getBroadphasePairPtr()
+       {
+               return m_pairsPointer;
+       }
+
+       SpuContactManifoldCollisionAlgorithm*   getlocalCollisionAlgorithm()
+       {
+               return m_lsCollisionAlgorithmPtr;
+       }
+       
+       btPersistentManifold*   getContactManifoldPtr()
+       {
+               return m_lsManifoldPtr;
+       }
+};
+
+
+#if defined(__CELLOS_LV2__) || defined(USE_LIBSPE2) 
+
+ATTRIBUTE_ALIGNED16(CollisionTask_LocalStoreMemory     gLocalStoreMemory);
+
+void* createCollisionLocalStoreMemory()
+{
+       return &gLocalStoreMemory;
+}
+void deleteCollisionLocalStoreMemory()
+{
+}
+#else
+
+btAlignedObjectArray<CollisionTask_LocalStoreMemory*> sLocalStorePointers;
+
+void* createCollisionLocalStoreMemory()
+{
+    CollisionTask_LocalStoreMemory* localStore = new CollisionTask_LocalStoreMemory;
+    sLocalStorePointers.push_back(localStore);
+    return localStore;
+}
+
+void deleteCollisionLocalStoreMemory()
+{
+    for (int i=0;i<sLocalStorePointers.size();i++)
+    {
+        delete sLocalStorePointers[i];
+    }
+    sLocalStorePointers.clear();
+}
+
+#endif
+
+void   ProcessSpuConvexConvexCollision(SpuCollisionPairInput* wuInput, CollisionTask_LocalStoreMemory* lsMemPtr, SpuContactResult& spuContacts);
+
+
+SIMD_FORCE_INLINE void small_cache_read(void* buffer, ppu_address_t ea, size_t size)
+{
+#if USE_SOFTWARE_CACHE
+       // Check for alignment requirements. We need to make sure the entire request fits within one cache line,
+       // so the first and last bytes should fall on the same cache line
+       btAssert((ea & ~SPE_CACHELINE_MASK) == ((ea + size - 1) & ~SPE_CACHELINE_MASK));
+
+       void* ls = spe_cache_read(ea);
+       memcpy(buffer, ls, size);
+#else
+       stallingUnalignedDmaSmallGet(buffer,ea,size);
+#endif
+}
+
+SIMD_FORCE_INLINE void small_cache_read_triple(        void* ls0, ppu_address_t ea0,
+                                                                                               void* ls1, ppu_address_t ea1,
+                                                                                               void* ls2, ppu_address_t ea2,
+                                                                                               size_t size)
+{
+               btAssert(size<16);
+               ATTRIBUTE_ALIGNED16(char        tmpBuffer0[32]);
+               ATTRIBUTE_ALIGNED16(char        tmpBuffer1[32]);
+               ATTRIBUTE_ALIGNED16(char        tmpBuffer2[32]);
+
+               uint32_t i;
+               
+
+               ///make sure last 4 bits are the same, for cellDmaSmallGet
+               char* localStore0 = (char*)ls0;
+               uint32_t last4BitsOffset = ea0 & 0x0f;
+               char* tmpTarget0 = tmpBuffer0 + last4BitsOffset;
+#ifdef __SPU__
+               cellDmaSmallGet(tmpTarget0,ea0,size,DMA_TAG(1),0,0);
+#else
+               tmpTarget0 = (char*)cellDmaSmallGetReadOnly(tmpTarget0,ea0,size,DMA_TAG(1),0,0);
+#endif
+
+
+               char* localStore1 = (char*)ls1;
+               last4BitsOffset = ea1 & 0x0f;
+               char* tmpTarget1 = tmpBuffer1 + last4BitsOffset;
+#ifdef __SPU__
+               cellDmaSmallGet(tmpTarget1,ea1,size,DMA_TAG(1),0,0);
+#else
+               tmpTarget1 = (char*)cellDmaSmallGetReadOnly(tmpTarget1,ea1,size,DMA_TAG(1),0,0);
+#endif
+               
+               char* localStore2 = (char*)ls2;
+               last4BitsOffset = ea2 & 0x0f;
+               char* tmpTarget2 = tmpBuffer2 + last4BitsOffset;
+#ifdef __SPU__
+               cellDmaSmallGet(tmpTarget2,ea2,size,DMA_TAG(1),0,0);
+#else
+               tmpTarget2 = (char*)cellDmaSmallGetReadOnly(tmpTarget2,ea2,size,DMA_TAG(1),0,0);
+#endif
+               
+               
+               cellDmaWaitTagStatusAll( DMA_MASK(1) );
+
+               //this is slowish, perhaps memcpy on SPU is smarter?
+               for (i=0; btLikely( i<size );i++)
+               {
+                       localStore0[i] = tmpTarget0[i];
+                       localStore1[i] = tmpTarget1[i];
+                       localStore2[i] = tmpTarget2[i];
+               }
+
+               
+}
+
+
+
+
+class spuNodeCallback : public btNodeOverlapCallback
+{
+       SpuCollisionPairInput* m_wuInput;
+       SpuContactResult&               m_spuContacts;
+       CollisionTask_LocalStoreMemory* m_lsMemPtr;
+       ATTRIBUTE_ALIGNED16(btTriangleShape)    m_tmpTriangleShape;
+
+       ATTRIBUTE_ALIGNED16(btVector3   spuTriangleVertices[3]);
+       ATTRIBUTE_ALIGNED16(btScalar    spuUnscaledVertex[4]);
+       
+
+
+public:
+       spuNodeCallback(SpuCollisionPairInput* wuInput, CollisionTask_LocalStoreMemory* lsMemPtr,SpuContactResult& spuContacts)
+               :       m_wuInput(wuInput),
+               m_spuContacts(spuContacts),
+               m_lsMemPtr(lsMemPtr)
+       {
+       }
+
+       virtual void processNode(int subPart, int triangleIndex)
+       {
+               ///Create a triangle on the stack, call process collision, with GJK
+               ///DMA the vertices, can benefit from software caching
+
+               //              spu_printf("processNode with triangleIndex %d\n",triangleIndex);
+
+               if (m_lsMemPtr->bvhShapeData.gIndexMesh.m_indexType == PHY_SHORT)
+               {
+                       unsigned short int* indexBasePtr = (unsigned short int*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexBase+triangleIndex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexStride);
+                       ATTRIBUTE_ALIGNED16(unsigned short int tmpIndices[3]);
+
+                       small_cache_read_triple(&tmpIndices[0],(ppu_address_t)&indexBasePtr[0],
+                                                                       &tmpIndices[1],(ppu_address_t)&indexBasePtr[1],
+                                                                       &tmpIndices[2],(ppu_address_t)&indexBasePtr[2],
+                                                                       sizeof(unsigned short int));
+
+                       m_lsMemPtr->spuIndices[0] = int(tmpIndices[0]);
+                       m_lsMemPtr->spuIndices[1] = int(tmpIndices[1]);
+                       m_lsMemPtr->spuIndices[2] = int(tmpIndices[2]);
+               } else
+               {
+                       unsigned int* indexBasePtr = (unsigned int*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexBase+triangleIndex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexStride);
+
+                       small_cache_read_triple(&m_lsMemPtr->spuIndices[0],(ppu_address_t)&indexBasePtr[0],
+                                                               &m_lsMemPtr->spuIndices[1],(ppu_address_t)&indexBasePtr[1],
+                                                               &m_lsMemPtr->spuIndices[2],(ppu_address_t)&indexBasePtr[2],
+                                                               sizeof(int));
+               }
+               
+               //              spu_printf("SPU index0=%d ,",spuIndices[0]);
+               //              spu_printf("SPU index1=%d ,",spuIndices[1]);
+               //              spu_printf("SPU index2=%d ,",spuIndices[2]);
+               //              spu_printf("SPU: indexBasePtr=%llx\n",indexBasePtr);
+
+               const btVector3& meshScaling = m_lsMemPtr->bvhShapeData.gTriangleMeshInterfacePtr->getScaling();
+               for (int j=2;btLikely( j>=0 );j--)
+               {
+                       int graphicsindex = m_lsMemPtr->spuIndices[j];
+
+                       //                      spu_printf("SPU index=%d ,",graphicsindex);
+                       btScalar* graphicsbasePtr = (btScalar*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_vertexBase+graphicsindex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_vertexStride);
+                       //                      spu_printf("SPU graphicsbasePtr=%llx\n",graphicsbasePtr);
+
+
+                       ///handle un-aligned vertices...
+
+                       //another DMA for each vertex
+                       small_cache_read_triple(&spuUnscaledVertex[0],(ppu_address_t)&graphicsbasePtr[0],
+                                                                       &spuUnscaledVertex[1],(ppu_address_t)&graphicsbasePtr[1],
+                                                                       &spuUnscaledVertex[2],(ppu_address_t)&graphicsbasePtr[2],
+                                                                       sizeof(btScalar));
+                       
+                       m_tmpTriangleShape.getVertexPtr(j).setValue(spuUnscaledVertex[0]*meshScaling.getX(),
+                               spuUnscaledVertex[1]*meshScaling.getY(),
+                               spuUnscaledVertex[2]*meshScaling.getZ());
+
+                       //                      spu_printf("SPU:triangle vertices:%f,%f,%f\n",spuTriangleVertices[j].x(),spuTriangleVertices[j].y(),spuTriangleVertices[j].z());
+               }
+
+
+               SpuCollisionPairInput triangleConcaveInput(*m_wuInput);
+//             triangleConcaveInput.m_spuCollisionShapes[1] = &spuTriangleVertices[0];
+               triangleConcaveInput.m_spuCollisionShapes[1] = &m_tmpTriangleShape;
+               triangleConcaveInput.m_shapeType1 = TRIANGLE_SHAPE_PROXYTYPE;
+
+               m_spuContacts.setShapeIdentifiersB(subPart,triangleIndex);
+
+               //              m_spuContacts.flush();
+
+               ProcessSpuConvexConvexCollision(&triangleConcaveInput, m_lsMemPtr,m_spuContacts);
+               ///this flush should be automatic
+               //      m_spuContacts.flush();
+       }
+
+};
+
+
+
+void btConvexPlaneCollideSingleContact (SpuCollisionPairInput* wuInput,CollisionTask_LocalStoreMemory* lsMemPtr,SpuContactResult&  spuContacts)
+{
+       
+       btConvexShape* convexShape = (btConvexShape*) wuInput->m_spuCollisionShapes[0];
+       btStaticPlaneShape* planeShape = (btStaticPlaneShape*) wuInput->m_spuCollisionShapes[1];
+
+    bool hasCollision = false;
+       const btVector3& planeNormal = planeShape->getPlaneNormal();
+       const btScalar& planeConstant = planeShape->getPlaneConstant();
+       
+       
+       btTransform convexWorldTransform = wuInput->m_worldTransform0;
+       btTransform convexInPlaneTrans;
+       convexInPlaneTrans= wuInput->m_worldTransform1.inverse() * convexWorldTransform;
+       btTransform planeInConvex;
+       planeInConvex= convexWorldTransform.inverse() * wuInput->m_worldTransform1;
+       
+       //btVector3 vtx = convexShape->localGetSupportVertexWithoutMarginNonVirtual(planeInConvex.getBasis()*-planeNormal);
+       btVector3 vtx = convexShape->localGetSupportVertexNonVirtual(planeInConvex.getBasis()*-planeNormal);
+
+       btVector3 vtxInPlane = convexInPlaneTrans(vtx);
+       btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
+
+       btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
+       btVector3 vtxInPlaneWorld = wuInput->m_worldTransform1 * vtxInPlaneProjected;
+
+       hasCollision = distance < lsMemPtr->getContactManifoldPtr()->getContactBreakingThreshold();
+       //resultOut->setPersistentManifold(m_manifoldPtr);
+       if (hasCollision)
+       {
+               /// report a contact. internally this will be kept persistent, and contact reduction is done
+               btVector3 normalOnSurfaceB =wuInput->m_worldTransform1.getBasis() * planeNormal;
+               btVector3 pOnB = vtxInPlaneWorld;
+               spuContacts.addContactPoint(normalOnSurfaceB,pOnB,distance);
+       }
+}
+
+void   ProcessConvexPlaneSpuCollision(SpuCollisionPairInput* wuInput, CollisionTask_LocalStoreMemory* lsMemPtr, SpuContactResult& spuContacts)
+{
+
+               register        int dmaSize = 0;
+               register ppu_address_t  dmaPpuAddress2;
+               btPersistentManifold* manifold = (btPersistentManifold*)wuInput->m_persistentManifoldPtr;
+
+               ///DMA in the vertices for convex shapes
+               ATTRIBUTE_ALIGNED16(char convexHullShape0[sizeof(btConvexHullShape)]);
+               ATTRIBUTE_ALIGNED16(char convexHullShape1[sizeof(btConvexHullShape)]);
+
+               if ( btLikely( wuInput->m_shapeType0== CONVEX_HULL_SHAPE_PROXYTYPE ) )
+               {
+                       //      spu_printf("SPU: DMA btConvexHullShape\n");
+                       
+                       dmaSize = sizeof(btConvexHullShape);
+                       dmaPpuAddress2 = wuInput->m_collisionShapes[0];
+
+                       cellDmaGet(&convexHullShape0, dmaPpuAddress2  , dmaSize, DMA_TAG(1), 0, 0);
+                       //cellDmaWaitTagStatusAll(DMA_MASK(1));
+               }
+
+               if ( btLikely( wuInput->m_shapeType1 == CONVEX_HULL_SHAPE_PROXYTYPE ) )
+               {
+                       //      spu_printf("SPU: DMA btConvexHullShape\n");
+                       dmaSize = sizeof(btConvexHullShape);
+                       dmaPpuAddress2 = wuInput->m_collisionShapes[1];
+                       cellDmaGet(&convexHullShape1, dmaPpuAddress2  , dmaSize, DMA_TAG(1), 0, 0);
+                       //cellDmaWaitTagStatusAll(DMA_MASK(1));
+               }
+               
+               if ( btLikely( wuInput->m_shapeType0 == CONVEX_HULL_SHAPE_PROXYTYPE ) )
+               {               
+                       cellDmaWaitTagStatusAll(DMA_MASK(1));
+                       dmaConvexVertexData (&lsMemPtr->convexVertexData[0], (btConvexHullShape*)&convexHullShape0);
+                       lsMemPtr->convexVertexData[0].gSpuConvexShapePtr = wuInput->m_spuCollisionShapes[0];
+               }
+
+                       
+               if ( btLikely( wuInput->m_shapeType1 == CONVEX_HULL_SHAPE_PROXYTYPE ) )
+               {
+                       cellDmaWaitTagStatusAll(DMA_MASK(1));
+                       dmaConvexVertexData (&lsMemPtr->convexVertexData[1], (btConvexHullShape*)&convexHullShape1);
+                       lsMemPtr->convexVertexData[1].gSpuConvexShapePtr = wuInput->m_spuCollisionShapes[1];
+               }
+
+               
+               btConvexPointCloudShape cpc0,cpc1;
+
+               if ( btLikely( wuInput->m_shapeType0 == CONVEX_HULL_SHAPE_PROXYTYPE ) )
+               {
+                       cellDmaWaitTagStatusAll(DMA_MASK(2));
+                       lsMemPtr->convexVertexData[0].gConvexPoints = &lsMemPtr->convexVertexData[0].g_convexPointBuffer[0];
+                       btConvexHullShape* ch = (btConvexHullShape*)wuInput->m_spuCollisionShapes[0];
+                       const btVector3& localScaling = ch->getLocalScalingNV();
+                       cpc0.setPoints(lsMemPtr->convexVertexData[0].gConvexPoints,lsMemPtr->convexVertexData[0].gNumConvexPoints,false,localScaling);
+                       wuInput->m_spuCollisionShapes[0] = &cpc0;
+               }
+
+               if ( btLikely( wuInput->m_shapeType1 == CONVEX_HULL_SHAPE_PROXYTYPE ) )
+               {
+                       cellDmaWaitTagStatusAll(DMA_MASK(2));           
+                       lsMemPtr->convexVertexData[1].gConvexPoints = &lsMemPtr->convexVertexData[1].g_convexPointBuffer[0];
+                       btConvexHullShape* ch = (btConvexHullShape*)wuInput->m_spuCollisionShapes[1];
+                       const btVector3& localScaling = ch->getLocalScalingNV();
+                       cpc1.setPoints(lsMemPtr->convexVertexData[1].gConvexPoints,lsMemPtr->convexVertexData[1].gNumConvexPoints,false,localScaling);
+                       wuInput->m_spuCollisionShapes[1] = &cpc1;
+
+               }
+
+
+//             const btConvexShape* shape0Ptr = (const btConvexShape*)wuInput->m_spuCollisionShapes[0];
+//             const btConvexShape* shape1Ptr = (const btConvexShape*)wuInput->m_spuCollisionShapes[1];
+//             int shapeType0 = wuInput->m_shapeType0;
+//             int shapeType1 = wuInput->m_shapeType1;
+               float marginA = wuInput->m_collisionMargin0;
+               float marginB = wuInput->m_collisionMargin1;
+
+               SpuClosestPointInput    cpInput;
+               cpInput.m_convexVertexData[0] = &lsMemPtr->convexVertexData[0];
+               cpInput.m_convexVertexData[1] = &lsMemPtr->convexVertexData[1];
+               cpInput.m_transformA = wuInput->m_worldTransform0;
+               cpInput.m_transformB = wuInput->m_worldTransform1;
+               float sumMargin = (marginA+marginB+lsMemPtr->getContactManifoldPtr()->getContactBreakingThreshold());
+               cpInput.m_maximumDistanceSquared = sumMargin * sumMargin;
+
+               ppu_address_t manifoldAddress = (ppu_address_t)manifold;
+
+               btPersistentManifold* spuManifold=lsMemPtr->getContactManifoldPtr();
+               //spuContacts.setContactInfo(spuManifold,manifoldAddress,wuInput->m_worldTransform0,wuInput->m_worldTransform1,wuInput->m_isSwapped);
+               spuContacts.setContactInfo(spuManifold,manifoldAddress,lsMemPtr->getColObj0()->getWorldTransform(),
+                       lsMemPtr->getColObj1()->getWorldTransform(),
+                       lsMemPtr->getColObj0()->getRestitution(),lsMemPtr->getColObj1()->getRestitution(),
+                       lsMemPtr->getColObj0()->getFriction(),lsMemPtr->getColObj1()->getFriction(),
+                       wuInput->m_isSwapped);
+
+
+               btConvexPlaneCollideSingleContact(wuInput,lsMemPtr,spuContacts);
+
+
+               
+       
+}
+
+
+
+
+////////////////////////
+/// Convex versus Concave triangle mesh collision detection (handles concave triangle mesh versus sphere, box, cylinder, triangle, cone, convex polyhedron etc)
+///////////////////
+void   ProcessConvexConcaveSpuCollision(SpuCollisionPairInput* wuInput, CollisionTask_LocalStoreMemory* lsMemPtr, SpuContactResult& spuContacts)
+{
+       //order: first collision shape is convex, second concave. m_isSwapped is true, if the original order was opposite
+       
+       btBvhTriangleMeshShape* trimeshShape = (btBvhTriangleMeshShape*)wuInput->m_spuCollisionShapes[1];
+       //need the mesh interface, for access to triangle vertices
+       dmaBvhShapeData (&lsMemPtr->bvhShapeData, trimeshShape);
+
+       btVector3 aabbMin(-1,-400,-1);
+       btVector3 aabbMax(1,400,1);
+
+
+       //recalc aabbs
+       btTransform convexInTriangleSpace;
+       convexInTriangleSpace = wuInput->m_worldTransform1.inverse() * wuInput->m_worldTransform0;
+       btConvexInternalShape* convexShape = (btConvexInternalShape*)wuInput->m_spuCollisionShapes[0];
+
+       computeAabb (aabbMin, aabbMax, convexShape, wuInput->m_collisionShapes[0], wuInput->m_shapeType0, convexInTriangleSpace);
+
+
+       //CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape);
+       //convexShape->getAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax);
+
+       //      btScalar extraMargin = collisionMarginTriangle;
+       //      btVector3 extra(extraMargin,extraMargin,extraMargin);
+       //      aabbMax += extra;
+       //      aabbMin -= extra;
+
+       ///quantize query AABB
+       unsigned short int quantizedQueryAabbMin[3];
+       unsigned short int quantizedQueryAabbMax[3];
+       lsMemPtr->bvhShapeData.getOptimizedBvh()->quantizeWithClamp(quantizedQueryAabbMin,aabbMin,0);
+       lsMemPtr->bvhShapeData.getOptimizedBvh()->quantizeWithClamp(quantizedQueryAabbMax,aabbMax,1);
+
+       QuantizedNodeArray&     nodeArray = lsMemPtr->bvhShapeData.getOptimizedBvh()->getQuantizedNodeArray();
+       //spu_printf("SPU: numNodes = %d\n",nodeArray.size());
+
+       BvhSubtreeInfoArray& subTrees = lsMemPtr->bvhShapeData.getOptimizedBvh()->getSubtreeInfoArray();
+
+
+       spuNodeCallback nodeCallback(wuInput,lsMemPtr,spuContacts);
+       IndexedMeshArray&       indexArray = lsMemPtr->bvhShapeData.gTriangleMeshInterfacePtr->getIndexedMeshArray();
+       //spu_printf("SPU:indexArray.size() = %d\n",indexArray.size());
+
+       //      spu_printf("SPU: numSubTrees = %d\n",subTrees.size());
+       //not likely to happen
+       if (subTrees.size() && indexArray.size() == 1)
+       {
+               ///DMA in the index info
+               dmaBvhIndexedMesh (&lsMemPtr->bvhShapeData.gIndexMesh, indexArray, 0 /* index into indexArray */, 1 /* dmaTag */);
+               cellDmaWaitTagStatusAll(DMA_MASK(1));
+               
+               //display the headers
+               int numBatch = subTrees.size();
+               for (int i=0;i<numBatch;)
+               {
+                       //@todo- can reorder DMA transfers for less stall
+                       int remaining = subTrees.size() - i;
+                       int nextBatch = remaining < MAX_SPU_SUBTREE_HEADERS ? remaining : MAX_SPU_SUBTREE_HEADERS;
+                       
+                       dmaBvhSubTreeHeaders (&lsMemPtr->bvhShapeData.gSubtreeHeaders[0], (ppu_address_t)(&subTrees[i]), nextBatch, 1);
+                       cellDmaWaitTagStatusAll(DMA_MASK(1));
+                       
+
+                       //                      spu_printf("nextBatch = %d\n",nextBatch);
+
+                       for (int j=0;j<nextBatch;j++)
+                       {
+                               const btBvhSubtreeInfo& subtree = lsMemPtr->bvhShapeData.gSubtreeHeaders[j];
+
+                               unsigned int overlap = spuTestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax);
+                               if (overlap)
+                               {
+                                       btAssert(subtree.m_subtreeSize);
+
+                                       //dma the actual nodes of this subtree
+                                       dmaBvhSubTreeNodes (&lsMemPtr->bvhShapeData.gSubtreeNodes[0], subtree, nodeArray, 2);
+                                       cellDmaWaitTagStatusAll(DMA_MASK(2));
+
+                                       /* Walk this subtree */
+                                       spuWalkStacklessQuantizedTree(&nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax,
+                                               &lsMemPtr->bvhShapeData.gSubtreeNodes[0],
+                                               0,
+                                               subtree.m_subtreeSize);
+                               }
+                               //                              spu_printf("subtreeSize = %d\n",gSubtreeHeaders[j].m_subtreeSize);
+                       }
+
+                       //      unsigned short int      m_quantizedAabbMin[3];
+                       //      unsigned short int      m_quantizedAabbMax[3];
+                       //      int                     m_rootNodeIndex;
+                       //      int                     m_subtreeSize;
+                       i+=nextBatch;
+               }
+
+               //pre-fetch first tree, then loop and double buffer
+       }
+
+}
+
+
+#define MAX_DEGENERATE_STATS 15
+int stats[MAX_DEGENERATE_STATS]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
+int degenerateStats[MAX_DEGENERATE_STATS]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
+
+
+////////////////////////
+/// Convex versus Convex collision detection (handles collision between sphere, box, cylinder, triangle, cone, convex polyhedron etc)
+///////////////////
+void   ProcessSpuConvexConvexCollision(SpuCollisionPairInput* wuInput, CollisionTask_LocalStoreMemory* lsMemPtr, SpuContactResult& spuContacts)
+{
+       register int dmaSize;
+       register ppu_address_t  dmaPpuAddress2;
+       
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+       //spu_printf("SPU: ProcessSpuConvexConvexCollision\n");
+#endif //DEBUG_SPU_COLLISION_DETECTION
+       //CollisionShape* shape0 = (CollisionShape*)wuInput->m_collisionShapes[0];
+       //CollisionShape* shape1 = (CollisionShape*)wuInput->m_collisionShapes[1];
+       btPersistentManifold* manifold = (btPersistentManifold*)wuInput->m_persistentManifoldPtr;
+
+       bool genericGjk = true;
+
+       if (genericGjk)
+       {
+               //try generic GJK
+
+               
+               
+               //SpuConvexPenetrationDepthSolver* penetrationSolver=0;
+               btVoronoiSimplexSolver simplexSolver;
+               btGjkEpaPenetrationDepthSolver  epaPenetrationSolver2;
+               
+               btConvexPenetrationDepthSolver* penetrationSolver = &epaPenetrationSolver2;
+               
+               //SpuMinkowskiPenetrationDepthSolver    minkowskiPenetrationSolver;
+#ifdef ENABLE_EPA
+               if (gUseEpa)
+               {
+                       penetrationSolver = &epaPenetrationSolver2;
+               } else
+#endif
+               {
+                       //penetrationSolver = &minkowskiPenetrationSolver;
+               }
+
+
+               ///DMA in the vertices for convex shapes
+               ATTRIBUTE_ALIGNED16(char convexHullShape0[sizeof(btConvexHullShape)]);
+               ATTRIBUTE_ALIGNED16(char convexHullShape1[sizeof(btConvexHullShape)]);
+
+               if ( btLikely( wuInput->m_shapeType0== CONVEX_HULL_SHAPE_PROXYTYPE ) )
+               {
+                       //      spu_printf("SPU: DMA btConvexHullShape\n");
+                       
+                       dmaSize = sizeof(btConvexHullShape);
+                       dmaPpuAddress2 = wuInput->m_collisionShapes[0];
+
+                       cellDmaGet(&convexHullShape0, dmaPpuAddress2  , dmaSize, DMA_TAG(1), 0, 0);
+                       //cellDmaWaitTagStatusAll(DMA_MASK(1));
+               }
+
+               if ( btLikely( wuInput->m_shapeType1 == CONVEX_HULL_SHAPE_PROXYTYPE ) )
+               {
+                       //      spu_printf("SPU: DMA btConvexHullShape\n");
+                       dmaSize = sizeof(btConvexHullShape);
+                       dmaPpuAddress2 = wuInput->m_collisionShapes[1];
+                       cellDmaGet(&convexHullShape1, dmaPpuAddress2  , dmaSize, DMA_TAG(1), 0, 0);
+                       //cellDmaWaitTagStatusAll(DMA_MASK(1));
+               }
+               
+               if ( btLikely( wuInput->m_shapeType0 == CONVEX_HULL_SHAPE_PROXYTYPE ) )
+               {               
+                       cellDmaWaitTagStatusAll(DMA_MASK(1));
+                       dmaConvexVertexData (&lsMemPtr->convexVertexData[0], (btConvexHullShape*)&convexHullShape0);
+                       lsMemPtr->convexVertexData[0].gSpuConvexShapePtr = wuInput->m_spuCollisionShapes[0];
+               }
+
+                       
+               if ( btLikely( wuInput->m_shapeType1 == CONVEX_HULL_SHAPE_PROXYTYPE ) )
+               {
+                       cellDmaWaitTagStatusAll(DMA_MASK(1));
+                       dmaConvexVertexData (&lsMemPtr->convexVertexData[1], (btConvexHullShape*)&convexHullShape1);
+                       lsMemPtr->convexVertexData[1].gSpuConvexShapePtr = wuInput->m_spuCollisionShapes[1];
+               }
+
+               
+               btConvexPointCloudShape cpc0,cpc1;
+
+               if ( btLikely( wuInput->m_shapeType0 == CONVEX_HULL_SHAPE_PROXYTYPE ) )
+               {
+                       cellDmaWaitTagStatusAll(DMA_MASK(2));
+                       lsMemPtr->convexVertexData[0].gConvexPoints = &lsMemPtr->convexVertexData[0].g_convexPointBuffer[0];
+                       btConvexHullShape* ch = (btConvexHullShape*)wuInput->m_spuCollisionShapes[0];
+                       const btVector3& localScaling = ch->getLocalScalingNV();
+                       cpc0.setPoints(lsMemPtr->convexVertexData[0].gConvexPoints,lsMemPtr->convexVertexData[0].gNumConvexPoints,false,localScaling);
+                       wuInput->m_spuCollisionShapes[0] = &cpc0;
+               }
+
+               if ( btLikely( wuInput->m_shapeType1 == CONVEX_HULL_SHAPE_PROXYTYPE ) )
+               {
+                       cellDmaWaitTagStatusAll(DMA_MASK(2));           
+                       lsMemPtr->convexVertexData[1].gConvexPoints = &lsMemPtr->convexVertexData[1].g_convexPointBuffer[0];
+                       btConvexHullShape* ch = (btConvexHullShape*)wuInput->m_spuCollisionShapes[1];
+                       const btVector3& localScaling = ch->getLocalScalingNV();
+                       cpc1.setPoints(lsMemPtr->convexVertexData[1].gConvexPoints,lsMemPtr->convexVertexData[1].gNumConvexPoints,false,localScaling);
+                       wuInput->m_spuCollisionShapes[1] = &cpc1;
+
+               }
+
+
+               const btConvexShape* shape0Ptr = (const btConvexShape*)wuInput->m_spuCollisionShapes[0];
+               const btConvexShape* shape1Ptr = (const btConvexShape*)wuInput->m_spuCollisionShapes[1];
+               int shapeType0 = wuInput->m_shapeType0;
+               int shapeType1 = wuInput->m_shapeType1;
+               float marginA = wuInput->m_collisionMargin0;
+               float marginB = wuInput->m_collisionMargin1;
+
+               SpuClosestPointInput    cpInput;
+               cpInput.m_convexVertexData[0] = &lsMemPtr->convexVertexData[0];
+               cpInput.m_convexVertexData[1] = &lsMemPtr->convexVertexData[1];
+               cpInput.m_transformA = wuInput->m_worldTransform0;
+               cpInput.m_transformB = wuInput->m_worldTransform1;
+               float sumMargin = (marginA+marginB+lsMemPtr->getContactManifoldPtr()->getContactBreakingThreshold());
+               cpInput.m_maximumDistanceSquared = sumMargin * sumMargin;
+
+               ppu_address_t manifoldAddress = (ppu_address_t)manifold;
+
+               btPersistentManifold* spuManifold=lsMemPtr->getContactManifoldPtr();
+               //spuContacts.setContactInfo(spuManifold,manifoldAddress,wuInput->m_worldTransform0,wuInput->m_worldTransform1,wuInput->m_isSwapped);
+               spuContacts.setContactInfo(spuManifold,manifoldAddress,lsMemPtr->getColObj0()->getWorldTransform(),
+                       lsMemPtr->getColObj1()->getWorldTransform(),
+                       lsMemPtr->getColObj0()->getRestitution(),lsMemPtr->getColObj1()->getRestitution(),
+                       lsMemPtr->getColObj0()->getFriction(),lsMemPtr->getColObj1()->getFriction(),
+                       wuInput->m_isSwapped);
+
+               {
+                       btGjkPairDetector gjk(shape0Ptr,shape1Ptr,shapeType0,shapeType1,marginA,marginB,&simplexSolver,penetrationSolver);//&vsSolver,penetrationSolver);
+                       gjk.getClosestPoints(cpInput,spuContacts,0);//,debugDraw);
+
+                       btAssert(gjk.m_lastUsedMethod <MAX_DEGENERATE_STATS);
+                       stats[gjk.m_lastUsedMethod]++;
+                       btAssert(gjk.m_degenerateSimplex <MAX_DEGENERATE_STATS);
+                       degenerateStats[gjk.m_degenerateSimplex]++;
+
+#ifdef USE_SEPDISTANCE_UTIL                    
+                       btScalar sepDist = gjk.getCachedSeparatingDistance()+spuManifold->getContactBreakingThreshold();
+                       lsMemPtr->getlocalCollisionAlgorithm()->m_sepDistance.initSeparatingDistance(gjk.getCachedSeparatingAxis(),sepDist,wuInput->m_worldTransform0,wuInput->m_worldTransform1);
+                       lsMemPtr->needsDmaPutContactManifoldAlgo = true;
+#endif //USE_SEPDISTANCE_UTIL
+
+               }
+
+       }
+
+
+}
+
+
+template<typename T> void DoSwap(T& a, T& b)
+{
+       char tmp[sizeof(T)];
+       memcpy(tmp, &a, sizeof(T));
+       memcpy(&a, &b, sizeof(T));
+       memcpy(&b, tmp, sizeof(T));
+}
+
+SIMD_FORCE_INLINE void dmaAndSetupCollisionObjects(SpuCollisionPairInput& collisionPairInput, CollisionTask_LocalStoreMemory& lsMem)
+{
+       register int dmaSize;
+       register ppu_address_t  dmaPpuAddress2;
+               
+       dmaSize = sizeof(btCollisionObject);//btTransform);
+       dmaPpuAddress2 = /*collisionPairInput.m_isSwapped ? (ppu_address_t)lsMem.gProxyPtr1->m_clientObject :*/ (ppu_address_t)lsMem.getlocalCollisionAlgorithm()->getCollisionObject0();
+       lsMem.m_lsColObj0Ptr = (btCollisionObject*)cellDmaGetReadOnly(&lsMem.gColObj0Buffer, dmaPpuAddress2  , dmaSize, DMA_TAG(1), 0, 0);              
+
+       dmaSize = sizeof(btCollisionObject);//btTransform);
+       dmaPpuAddress2 = /*collisionPairInput.m_isSwapped ? (ppu_address_t)lsMem.gProxyPtr0->m_clientObject :*/ (ppu_address_t)lsMem.getlocalCollisionAlgorithm()->getCollisionObject1();
+       lsMem.m_lsColObj1Ptr = (btCollisionObject*)cellDmaGetReadOnly(&lsMem.gColObj1Buffer, dmaPpuAddress2  , dmaSize, DMA_TAG(2), 0, 0);              
+       
+       cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
+
+       btCollisionObject* ob0 = lsMem.getColObj0();
+       btCollisionObject* ob1 = lsMem.getColObj1();
+
+       collisionPairInput.m_worldTransform0 = ob0->getWorldTransform();
+       collisionPairInput.m_worldTransform1 = ob1->getWorldTransform();
+}
+
+
+
+void   handleCollisionPair(SpuCollisionPairInput& collisionPairInput, CollisionTask_LocalStoreMemory& lsMem,
+                                                       SpuContactResult &spuContacts,
+                                                       ppu_address_t collisionShape0Ptr, void* collisionShape0Loc,
+                                                       ppu_address_t collisionShape1Ptr, void* collisionShape1Loc, bool dmaShapes = true)
+{
+       
+       if (btBroadphaseProxy::isConvex(collisionPairInput.m_shapeType0) 
+               && btBroadphaseProxy::isConvex(collisionPairInput.m_shapeType1))
+       {
+               if (dmaShapes)
+               {
+                       dmaCollisionShape (collisionShape0Loc, collisionShape0Ptr, 1, collisionPairInput.m_shapeType0);
+                       dmaCollisionShape (collisionShape1Loc, collisionShape1Ptr, 2, collisionPairInput.m_shapeType1);
+                       cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
+               }
+
+               btConvexInternalShape* spuConvexShape0 = (btConvexInternalShape*)collisionShape0Loc;
+               btConvexInternalShape* spuConvexShape1 = (btConvexInternalShape*)collisionShape1Loc;
+
+               btVector3 dim0 = spuConvexShape0->getImplicitShapeDimensions();
+               btVector3 dim1 = spuConvexShape1->getImplicitShapeDimensions();
+
+               collisionPairInput.m_primitiveDimensions0 = dim0;
+               collisionPairInput.m_primitiveDimensions1 = dim1;
+               collisionPairInput.m_collisionShapes[0] = collisionShape0Ptr;
+               collisionPairInput.m_collisionShapes[1] = collisionShape1Ptr;
+               collisionPairInput.m_spuCollisionShapes[0] = spuConvexShape0;
+               collisionPairInput.m_spuCollisionShapes[1] = spuConvexShape1;
+               ProcessSpuConvexConvexCollision(&collisionPairInput,&lsMem,spuContacts);
+       } 
+       else if (btBroadphaseProxy::isCompound(collisionPairInput.m_shapeType0) && 
+                       btBroadphaseProxy::isCompound(collisionPairInput.m_shapeType1))
+       {
+               //snPause();
+
+               dmaCollisionShape (collisionShape0Loc, collisionShape0Ptr, 1, collisionPairInput.m_shapeType0);
+               dmaCollisionShape (collisionShape1Loc, collisionShape1Ptr, 2, collisionPairInput.m_shapeType1);
+               cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
+
+               // Both are compounds, do N^2 CD for now
+               ///@todo: add some AABB-based pruning (probably not -> slower)
+       
+               btCompoundShape* spuCompoundShape0 = (btCompoundShape*)collisionShape0Loc;
+               btCompoundShape* spuCompoundShape1 = (btCompoundShape*)collisionShape1Loc;
+
+               dmaCompoundShapeInfo (&lsMem.compoundShapeData[0], spuCompoundShape0, 1);
+               dmaCompoundShapeInfo (&lsMem.compoundShapeData[1], spuCompoundShape1, 2);
+               cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
+               
+
+               dmaCompoundSubShapes (&lsMem.compoundShapeData[0], spuCompoundShape0, 1);
+               cellDmaWaitTagStatusAll(DMA_MASK(1));
+               dmaCompoundSubShapes (&lsMem.compoundShapeData[1], spuCompoundShape1, 1);
+               cellDmaWaitTagStatusAll(DMA_MASK(1));
+
+               int childShapeCount0 = spuCompoundShape0->getNumChildShapes();
+               btAssert(childShapeCount0< MAX_SPU_COMPOUND_SUBSHAPES);
+               int childShapeCount1 = spuCompoundShape1->getNumChildShapes();
+               btAssert(childShapeCount1< MAX_SPU_COMPOUND_SUBSHAPES);
+
+               // Start the N^2
+               for (int i = 0; i < childShapeCount0; ++i)
+               {
+                       btCompoundShapeChild& childShape0 = lsMem.compoundShapeData[0].gSubshapes[i];
+                       btAssert(!btBroadphaseProxy::isCompound(childShape0.m_childShapeType));
+
+                       for (int j = 0; j < childShapeCount1; ++j)
+                       {
+                               btCompoundShapeChild& childShape1 = lsMem.compoundShapeData[1].gSubshapes[j];
+                               btAssert(!btBroadphaseProxy::isCompound(childShape1.m_childShapeType));
+
+
+                               /* Create a new collision pair input struct using the two child shapes */
+                               SpuCollisionPairInput cinput (collisionPairInput);
+
+                               cinput.m_worldTransform0 = collisionPairInput.m_worldTransform0 * childShape0.m_transform;
+                               cinput.m_shapeType0 = childShape0.m_childShapeType;
+                               cinput.m_collisionMargin0 = childShape0.m_childMargin;
+
+                               cinput.m_worldTransform1 = collisionPairInput.m_worldTransform1 * childShape1.m_transform;
+                               cinput.m_shapeType1 = childShape1.m_childShapeType;
+                               cinput.m_collisionMargin1 = childShape1.m_childMargin;
+                               /* Recursively call handleCollisionPair () with new collision pair input */
+                               
+                               handleCollisionPair(cinput, lsMem, spuContacts,                 
+                                       (ppu_address_t)childShape0.m_childShape, lsMem.compoundShapeData[0].gSubshapeShape[i], 
+                                       (ppu_address_t)childShape1.m_childShape, lsMem.compoundShapeData[1].gSubshapeShape[j], false);
+                       }
+               }
+       }
+       else if (btBroadphaseProxy::isCompound(collisionPairInput.m_shapeType0) )
+       {
+               //snPause();
+               
+               dmaCollisionShape (collisionShape0Loc, collisionShape0Ptr, 1, collisionPairInput.m_shapeType0);
+               dmaCollisionShape (collisionShape1Loc, collisionShape1Ptr, 2, collisionPairInput.m_shapeType1);
+               cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
+
+               // object 0 compound, object 1 non-compound
+               btCompoundShape* spuCompoundShape = (btCompoundShape*)collisionShape0Loc;
+               dmaCompoundShapeInfo (&lsMem.compoundShapeData[0], spuCompoundShape, 1);
+               cellDmaWaitTagStatusAll(DMA_MASK(1));
+
+               int childShapeCount = spuCompoundShape->getNumChildShapes();
+               btAssert(childShapeCount< MAX_SPU_COMPOUND_SUBSHAPES);
+
+               for (int i = 0; i < childShapeCount; ++i)
+               {
+                       btCompoundShapeChild& childShape = lsMem.compoundShapeData[0].gSubshapes[i];
+                       btAssert(!btBroadphaseProxy::isCompound(childShape.m_childShapeType));
+                       // Dma the child shape
+                       dmaCollisionShape (&lsMem.compoundShapeData[0].gSubshapeShape[i], (ppu_address_t)childShape.m_childShape, 1, childShape.m_childShapeType);
+                       cellDmaWaitTagStatusAll(DMA_MASK(1));
+                       
+                       SpuCollisionPairInput cinput (collisionPairInput);
+                       cinput.m_worldTransform0 = collisionPairInput.m_worldTransform0 * childShape.m_transform;
+                       cinput.m_shapeType0 = childShape.m_childShapeType;
+                       cinput.m_collisionMargin0 = childShape.m_childMargin;
+
+                       handleCollisionPair(cinput, lsMem, spuContacts,                 
+                               (ppu_address_t)childShape.m_childShape, lsMem.compoundShapeData[0].gSubshapeShape[i], 
+                               collisionShape1Ptr, collisionShape1Loc, false);
+               }
+       }
+       else if (btBroadphaseProxy::isCompound(collisionPairInput.m_shapeType1) )
+       {
+               //snPause();
+               
+               dmaCollisionShape (collisionShape0Loc, collisionShape0Ptr, 1, collisionPairInput.m_shapeType0);
+               dmaCollisionShape (collisionShape1Loc, collisionShape1Ptr, 2, collisionPairInput.m_shapeType1);
+               cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
+               // object 0 non-compound, object 1 compound
+               btCompoundShape* spuCompoundShape = (btCompoundShape*)collisionShape1Loc;
+               dmaCompoundShapeInfo (&lsMem.compoundShapeData[0], spuCompoundShape, 1);
+               cellDmaWaitTagStatusAll(DMA_MASK(1));
+               
+               int childShapeCount = spuCompoundShape->getNumChildShapes();
+               btAssert(childShapeCount< MAX_SPU_COMPOUND_SUBSHAPES);
+
+
+               for (int i = 0; i < childShapeCount; ++i)
+               {
+                       btCompoundShapeChild& childShape = lsMem.compoundShapeData[0].gSubshapes[i];
+                       btAssert(!btBroadphaseProxy::isCompound(childShape.m_childShapeType));
+                       // Dma the child shape
+                       dmaCollisionShape (&lsMem.compoundShapeData[0].gSubshapeShape[i], (ppu_address_t)childShape.m_childShape, 1, childShape.m_childShapeType);
+                       cellDmaWaitTagStatusAll(DMA_MASK(1));
+
+                       SpuCollisionPairInput cinput (collisionPairInput);
+                       cinput.m_worldTransform1 = collisionPairInput.m_worldTransform1 * childShape.m_transform;
+                       cinput.m_shapeType1 = childShape.m_childShapeType;
+                       cinput.m_collisionMargin1 = childShape.m_childMargin;
+                       handleCollisionPair(cinput, lsMem, spuContacts,
+                               collisionShape0Ptr, collisionShape0Loc, 
+                               (ppu_address_t)childShape.m_childShape, lsMem.compoundShapeData[0].gSubshapeShape[i], false);
+               }
+               
+       }
+       else
+       {
+               //a non-convex shape is involved                                                                        
+               bool handleConvexConcave = false;
+
+               //snPause();
+
+               if (btBroadphaseProxy::isConcave(collisionPairInput.m_shapeType0) &&
+                       btBroadphaseProxy::isConvex(collisionPairInput.m_shapeType1))
+               {
+                       // Swap stuff
+                       DoSwap(collisionShape0Ptr, collisionShape1Ptr);
+                       DoSwap(collisionShape0Loc, collisionShape1Loc);
+                       DoSwap(collisionPairInput.m_shapeType0, collisionPairInput.m_shapeType1);
+                       DoSwap(collisionPairInput.m_worldTransform0, collisionPairInput.m_worldTransform1);
+                       DoSwap(collisionPairInput.m_collisionMargin0, collisionPairInput.m_collisionMargin1);
+                       
+                       collisionPairInput.m_isSwapped = true;
+               }
+               
+               if (btBroadphaseProxy::isConvex(collisionPairInput.m_shapeType0)&&
+                       btBroadphaseProxy::isConcave(collisionPairInput.m_shapeType1))
+               {
+                       handleConvexConcave = true;
+               }
+               if (handleConvexConcave)
+               {
+                       if (dmaShapes)
+                       {
+                               dmaCollisionShape (collisionShape0Loc, collisionShape0Ptr, 1, collisionPairInput.m_shapeType0);
+                               dmaCollisionShape (collisionShape1Loc, collisionShape1Ptr, 2, collisionPairInput.m_shapeType1);
+                               cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
+                       }
+                       
+                       if (collisionPairInput.m_shapeType1 == STATIC_PLANE_PROXYTYPE)
+                       {
+                               btConvexInternalShape* spuConvexShape0 = (btConvexInternalShape*)collisionShape0Loc;
+                               btStaticPlaneShape* planeShape= (btStaticPlaneShape*)collisionShape1Loc;
+
+                               btVector3 dim0 = spuConvexShape0->getImplicitShapeDimensions();
+                               collisionPairInput.m_primitiveDimensions0 = dim0;
+                               collisionPairInput.m_collisionShapes[0] = collisionShape0Ptr;
+                               collisionPairInput.m_collisionShapes[1] = collisionShape1Ptr;
+                               collisionPairInput.m_spuCollisionShapes[0] = spuConvexShape0;
+                               collisionPairInput.m_spuCollisionShapes[1] = planeShape;
+
+                               ProcessConvexPlaneSpuCollision(&collisionPairInput,&lsMem,spuContacts);
+                       } else
+                       {
+                               btConvexInternalShape* spuConvexShape0 = (btConvexInternalShape*)collisionShape0Loc;
+                               btBvhTriangleMeshShape* trimeshShape = (btBvhTriangleMeshShape*)collisionShape1Loc;
+
+                               btVector3 dim0 = spuConvexShape0->getImplicitShapeDimensions();
+                               collisionPairInput.m_primitiveDimensions0 = dim0;
+                               collisionPairInput.m_collisionShapes[0] = collisionShape0Ptr;
+                               collisionPairInput.m_collisionShapes[1] = collisionShape1Ptr;
+                               collisionPairInput.m_spuCollisionShapes[0] = spuConvexShape0;
+                               collisionPairInput.m_spuCollisionShapes[1] = trimeshShape;
+
+                               ProcessConvexConcaveSpuCollision(&collisionPairInput,&lsMem,spuContacts);
+                       }
+               }
+
+       }
+       
+       spuContacts.flush();
+
+}
+
+
+void   processCollisionTask(void* userPtr, void* lsMemPtr)
+{
+
+       SpuGatherAndProcessPairsTaskDesc* taskDescPtr = (SpuGatherAndProcessPairsTaskDesc*)userPtr;
+       SpuGatherAndProcessPairsTaskDesc& taskDesc = *taskDescPtr;
+       CollisionTask_LocalStoreMemory* colMemPtr = (CollisionTask_LocalStoreMemory*)lsMemPtr;
+       CollisionTask_LocalStoreMemory& lsMem = *(colMemPtr);
+
+       gUseEpa = taskDesc.m_useEpa;
+
+       //      spu_printf("taskDescPtr=%llx\n",taskDescPtr);
+
+       SpuContactResult spuContacts;
+
+       ////////////////////
+
+       ppu_address_t dmaInPtr = taskDesc.m_inPairPtr;
+       unsigned int numPages = taskDesc.numPages;
+       unsigned int numOnLastPage = taskDesc.numOnLastPage;
+
+       // prefetch first set of inputs and wait
+       lsMem.g_workUnitTaskBuffers.init();
+
+       unsigned int nextNumOnPage = (numPages > 1)? MIDPHASE_NUM_WORKUNITS_PER_PAGE : numOnLastPage;
+       lsMem.g_workUnitTaskBuffers.backBufferDmaGet(dmaInPtr, nextNumOnPage*sizeof(SpuGatherAndProcessWorkUnitInput), DMA_TAG(3));
+       dmaInPtr += MIDPHASE_WORKUNIT_PAGE_SIZE;
+
+       
+       register unsigned char *inputPtr;
+       register unsigned int numOnPage;
+       register unsigned int j;
+       SpuGatherAndProcessWorkUnitInput* wuInputs;     
+       register int dmaSize;
+       register ppu_address_t  dmaPpuAddress;
+       register ppu_address_t  dmaPpuAddress2;
+
+       int numPairs;
+       register int p;
+       SpuCollisionPairInput collisionPairInput;
+       
+       for (unsigned int i = 0; btLikely(i < numPages); i++)
+       {
+
+               // wait for back buffer dma and swap buffers
+               inputPtr = lsMem.g_workUnitTaskBuffers.swapBuffers();
+
+               // number on current page is number prefetched last iteration
+               numOnPage = nextNumOnPage;
+
+
+               // prefetch next set of inputs
+#if MIDPHASE_NUM_WORKUNIT_PAGES > 2
+               if ( btLikely( i < numPages-1 ) )
+#else
+               if ( btUnlikely( i < numPages-1 ) )
+#endif
+               {
+                       nextNumOnPage = (i == numPages-2)? numOnLastPage : MIDPHASE_NUM_WORKUNITS_PER_PAGE;
+                       lsMem.g_workUnitTaskBuffers.backBufferDmaGet(dmaInPtr, nextNumOnPage*sizeof(SpuGatherAndProcessWorkUnitInput), DMA_TAG(3));
+                       dmaInPtr += MIDPHASE_WORKUNIT_PAGE_SIZE;
+               }
+
+               wuInputs = reinterpret_cast<SpuGatherAndProcessWorkUnitInput *>(inputPtr);
+               
+               
+               for (j = 0; btLikely( j < numOnPage ); j++)
+               {
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+               //      printMidphaseInput(&wuInputs[j]);
+#endif //DEBUG_SPU_COLLISION_DETECTION
+
+
+                       numPairs = wuInputs[j].m_endIndex - wuInputs[j].m_startIndex;
+                       
+                       if ( btLikely( numPairs ) )
+                       {
+                                       dmaSize = numPairs*sizeof(btBroadphasePair);
+                                       dmaPpuAddress = wuInputs[j].m_pairArrayPtr+wuInputs[j].m_startIndex * sizeof(btBroadphasePair);
+                                       lsMem.m_pairsPointer = (btBroadphasePair*)cellDmaGetReadOnly(&lsMem.gBroadphasePairsBuffer, dmaPpuAddress  , dmaSize, DMA_TAG(1), 0, 0);
+                                       cellDmaWaitTagStatusAll(DMA_MASK(1));
+                               
+
+                               for (p=0;p<numPairs;p++)
+                               {
+
+                                       //for each broadphase pair, do something
+
+                                       btBroadphasePair& pair = lsMem.getBroadphasePairPtr()[p];
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+                                       spu_printf("pair->m_userInfo = %d\n",pair.m_userInfo);
+                                       spu_printf("pair->m_algorithm = %d\n",pair.m_algorithm);
+                                       spu_printf("pair->m_pProxy0 = %d\n",pair.m_pProxy0);
+                                       spu_printf("pair->m_pProxy1 = %d\n",pair.m_pProxy1);
+#endif //DEBUG_SPU_COLLISION_DETECTION
+
+                                       if (pair.m_internalTmpValue == 2 && pair.m_algorithm && pair.m_pProxy0 && pair.m_pProxy1)
+                                       {
+                                               dmaSize = sizeof(SpuContactManifoldCollisionAlgorithm);
+                                               dmaPpuAddress2 = (ppu_address_t)pair.m_algorithm;
+                                               lsMem.m_lsCollisionAlgorithmPtr = (SpuContactManifoldCollisionAlgorithm*)cellDmaGetReadOnly(&lsMem.gSpuContactManifoldAlgoBuffer, dmaPpuAddress2  , dmaSize, DMA_TAG(1), 0, 0);
+
+                                               cellDmaWaitTagStatusAll(DMA_MASK(1));
+
+                                               lsMem.needsDmaPutContactManifoldAlgo = false;
+
+                                               collisionPairInput.m_persistentManifoldPtr = (ppu_address_t) lsMem.getlocalCollisionAlgorithm()->getContactManifoldPtr();
+                                               collisionPairInput.m_isSwapped = false;
+
+                                               if (1)
+                                               {
+
+                                                       ///can wait on the combined DMA_MASK, or dma on the same tag
+
+
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+                                       //              spu_printf("SPU collisionPairInput->m_shapeType0 = %d\n",collisionPairInput->m_shapeType0);
+                                       //              spu_printf("SPU collisionPairInput->m_shapeType1 = %d\n",collisionPairInput->m_shapeType1);
+#endif //DEBUG_SPU_COLLISION_DETECTION
+
+                                                       
+                                                       dmaSize = sizeof(btPersistentManifold);
+
+                                                       dmaPpuAddress2 = collisionPairInput.m_persistentManifoldPtr;
+                                                       lsMem.m_lsManifoldPtr = (btPersistentManifold*)cellDmaGetReadOnly(&lsMem.gPersistentManifoldBuffer, dmaPpuAddress2  , dmaSize, DMA_TAG(1), 0, 0);
+
+                                                       collisionPairInput.m_shapeType0 = lsMem.getlocalCollisionAlgorithm()->getShapeType0();
+                                                       collisionPairInput.m_shapeType1 = lsMem.getlocalCollisionAlgorithm()->getShapeType1();
+                                                       collisionPairInput.m_collisionMargin0 = lsMem.getlocalCollisionAlgorithm()->getCollisionMargin0();
+                                                       collisionPairInput.m_collisionMargin1 = lsMem.getlocalCollisionAlgorithm()->getCollisionMargin1();
+                                                       
+                                                       
+                                                       
+                                                       //??cellDmaWaitTagStatusAll(DMA_MASK(1));
+                                                       
+
+                                                       if (1)
+                                                       {
+                                                               //snPause();
+
+                                                               // Get the collision objects
+                                                               dmaAndSetupCollisionObjects(collisionPairInput, lsMem);
+
+                                                               if (lsMem.getColObj0()->isActive() || lsMem.getColObj1()->isActive())
+                                                               {
+
+                                                                       lsMem.needsDmaPutContactManifoldAlgo = true;
+#ifdef USE_SEPDISTANCE_UTIL
+                                                                       lsMem.getlocalCollisionAlgorithm()->m_sepDistance.updateSeparatingDistance(collisionPairInput.m_worldTransform0,collisionPairInput.m_worldTransform1);
+#endif //USE_SEPDISTANCE_UTIL
+                                                       
+#define USE_DEDICATED_BOX_BOX 1
+#ifdef USE_DEDICATED_BOX_BOX
+                                                                       bool boxbox = ((lsMem.getlocalCollisionAlgorithm()->getShapeType0()==BOX_SHAPE_PROXYTYPE)&&
+                                                                               (lsMem.getlocalCollisionAlgorithm()->getShapeType1()==BOX_SHAPE_PROXYTYPE));
+                                                                       if (boxbox)
+                                                                       {
+                                                                               //spu_printf("boxbox dist = %f\n",distance);
+                                                                               btPersistentManifold* spuManifold=lsMem.getContactManifoldPtr();
+                                                                               btPersistentManifold* manifold = (btPersistentManifold*)collisionPairInput.m_persistentManifoldPtr;
+                                                                               ppu_address_t manifoldAddress = (ppu_address_t)manifold;
+
+                                                                               spuContacts.setContactInfo(spuManifold,manifoldAddress,lsMem.getColObj0()->getWorldTransform(),
+                                                                                       lsMem.getColObj1()->getWorldTransform(),
+                                                                                       lsMem.getColObj0()->getRestitution(),lsMem.getColObj1()->getRestitution(),
+                                                                                       lsMem.getColObj0()->getFriction(),lsMem.getColObj1()->getFriction(),
+                                                                                       collisionPairInput.m_isSwapped);
+
+                                               
+                                                                       //float distance=0.f;
+                                                                       btVector3 normalInB;
+
+
+                                                                       if (//!gUseEpa &&
+#ifdef USE_SEPDISTANCE_UTIL
+                                                                               lsMem.getlocalCollisionAlgorithm()->m_sepDistance.getConservativeSeparatingDistance()<=0.f
+#else
+                                                                               1
+#endif                                                                                 
+                                                                               )
+                                                                               {
+//#define USE_PE_BOX_BOX 1
+#ifdef USE_PE_BOX_BOX
+                                                                                       {
+
+                                                                                               //getCollisionMargin0
+                                                                                               btScalar margin0 = lsMem.getlocalCollisionAlgorithm()->getCollisionMargin0();
+                                                                                               btScalar margin1 = lsMem.getlocalCollisionAlgorithm()->getCollisionMargin1();
+                                                                                               btVector3 shapeDim0 = lsMem.getlocalCollisionAlgorithm()->getShapeDimensions0()+btVector3(margin0,margin0,margin0);
+                                                                                               btVector3 shapeDim1 = lsMem.getlocalCollisionAlgorithm()->getShapeDimensions1()+btVector3(margin1,margin1,margin1);
+/*
+                                                                                               //Box boxA(shapeDim0.getX(),shapeDim0.getY(),shapeDim0.getZ());
+                                                                                               vmVector3 vmPos0 = getVmVector3(collisionPairInput.m_worldTransform0.getOrigin());
+                                                                                               vmVector3 vmPos1 = getVmVector3(collisionPairInput.m_worldTransform1.getOrigin());
+                                                                                               vmMatrix3 vmMatrix0 = getVmMatrix3(collisionPairInput.m_worldTransform0.getBasis());
+                                                                                               vmMatrix3 vmMatrix1 = getVmMatrix3(collisionPairInput.m_worldTransform1.getBasis());
+
+                                                                                               vmTransform3 transformA(vmMatrix0,vmPos0);
+                                                                                               Box boxB(shapeDim1.getX(),shapeDim1.getY(),shapeDim1.getZ());
+                                                                                               vmTransform3 transformB(vmMatrix1,vmPos1);
+                                                                                               BoxPoint resultClosestBoxPointA;
+                                                                                               BoxPoint resultClosestBoxPointB;
+                                                                                               vmVector3 resultNormal;
+                                                                                               */
+
+#ifdef USE_SEPDISTANCE_UTIL
+                                                                                               float distanceThreshold = FLT_MAX
+#else
+                                                                                               //float distanceThreshold = 0.f;
+#endif
+
+
+                                                                                               vmVector3 n;
+                                                                                               Box boxA;
+                                                                                               vmVector3 hA(shapeDim0.getX(),shapeDim0.getY(),shapeDim0.getZ());
+                                                                                               vmVector3 hB(shapeDim1.getX(),shapeDim1.getY(),shapeDim1.getZ());
+                                                                                               boxA.mHalf= hA;
+                                                                                               vmTransform3 trA;
+                                                                                               trA.setTranslation(getVmVector3(collisionPairInput.m_worldTransform0.getOrigin()));
+                                                                                               trA.setUpper3x3(getVmMatrix3(collisionPairInput.m_worldTransform0.getBasis()));
+                                                                                               Box boxB;
+                                                                                               boxB.mHalf = hB;
+                                                                                               vmTransform3 trB;
+                                                                                               trB.setTranslation(getVmVector3(collisionPairInput.m_worldTransform1.getOrigin()));
+                                                                                               trB.setUpper3x3(getVmMatrix3(collisionPairInput.m_worldTransform1.getBasis()));
+                                                                                               
+                                                                                               float distanceThreshold = spuManifold->getContactBreakingThreshold();//0.001f;
+
+
+                                                                                               BoxPoint ptA,ptB;
+                                                                                               float dist = boxBoxDistance(n, ptA, ptB,
+                                                                                                                  boxA, trA, boxB,        trB,
+                                                                                                                       distanceThreshold );
+
+
+//                                                                                             float distance = boxBoxDistance(resultNormal,resultClosestBoxPointA,resultClosestBoxPointB,  boxA, transformA, boxB,transformB,distanceThreshold);
+                                                                                               
+                                                                                               normalInB = -getBtVector3(n);//resultNormal);
+
+                                                                                               //if(dist < distanceThreshold)//spuManifold->getContactBreakingThreshold())
+                                                                                               if(dist < spuManifold->getContactBreakingThreshold())
+                                                                                               {
+                                                                                                       btVector3 pointOnB = collisionPairInput.m_worldTransform1(getBtVector3(ptB.localPoint));
+
+                                                                                                       spuContacts.addContactPoint(
+                                                                                                               normalInB,
+                                                                                                               pointOnB,
+                                                                                                               dist);
+                                                                                               }
+                                                                                       } 
+#else                                                                  
+                                                                                       {
+
+                                                                                               btScalar margin0 = lsMem.getlocalCollisionAlgorithm()->getCollisionMargin0();
+                                                                                               btScalar margin1 = lsMem.getlocalCollisionAlgorithm()->getCollisionMargin1();
+                                                                                               btVector3 shapeDim0 = lsMem.getlocalCollisionAlgorithm()->getShapeDimensions0()+btVector3(margin0,margin0,margin0);
+                                                                                               btVector3 shapeDim1 = lsMem.getlocalCollisionAlgorithm()->getShapeDimensions1()+btVector3(margin1,margin1,margin1);
+
+
+                                                                                               btBoxShape box0(shapeDim0);
+                                                                                               btBoxShape box1(shapeDim1);
+
+                                                                                               struct SpuBridgeContactCollector : public btDiscreteCollisionDetectorInterface::Result
+                                                                                               {
+                                                                                                       SpuContactResult&       m_spuContacts;
+
+                                                                                                       virtual void setShapeIdentifiersA(int partId0,int index0)
+                                                                                                       {
+                                                                                                               m_spuContacts.setShapeIdentifiersA(partId0,index0);
+                                                                                                       }
+                                                                                                       virtual void setShapeIdentifiersB(int partId1,int index1)
+                                                                                                       {
+                                                                                                               m_spuContacts.setShapeIdentifiersB(partId1,index1);
+                                                                                                       }
+                                                                                                       virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
+                                                                                                       {
+                                                                                                               m_spuContacts.addContactPoint(normalOnBInWorld,pointInWorld,depth);
+                                                                                                       }
+
+                                                                                                       SpuBridgeContactCollector(SpuContactResult& spuContacts)
+                                                                                                               :m_spuContacts(spuContacts)
+                                                                                                       {
+
+                                                                                                       }
+                                                                                               };
+                                                                                               
+                                                                                               SpuBridgeContactCollector  bridgeOutput(spuContacts);
+
+                                                                                               btDiscreteCollisionDetectorInterface::ClosestPointInput input;
+                                                                                               input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
+                                                                                               input.m_transformA = collisionPairInput.m_worldTransform0;
+                                                                                               input.m_transformB = collisionPairInput.m_worldTransform1;
+
+                                                                                               btBoxBoxDetector detector(&box0,&box1);
+                                                                                               
+                                                                                               detector.getClosestPoints(input,bridgeOutput,0);
+
+                                                                                       }
+#endif //USE_PE_BOX_BOX
+                                                                                       
+                                                                                       lsMem.needsDmaPutContactManifoldAlgo = true;
+#ifdef USE_SEPDISTANCE_UTIL
+                                                                                       btScalar sepDist2 = distance+spuManifold->getContactBreakingThreshold();
+                                                                                       lsMem.getlocalCollisionAlgorithm()->m_sepDistance.initSeparatingDistance(normalInB,sepDist2,collisionPairInput.m_worldTransform0,collisionPairInput.m_worldTransform1);
+#endif //USE_SEPDISTANCE_UTIL
+                                                                                       gProcessedCol++;
+                                                                               } else
+                                                                               {
+                                                                                       gSkippedCol++;
+                                                                               }
+
+                                                                               spuContacts.flush();
+                                                                                       
+
+                                                                       } else
+#endif //USE_DEDICATED_BOX_BOX
+                                                                       {
+                                                                               if (
+#ifdef USE_SEPDISTANCE_UTIL
+                                                                                       lsMem.getlocalCollisionAlgorithm()->m_sepDistance.getConservativeSeparatingDistance()<=0.f
+#else
+                                                                                       1
+#endif //USE_SEPDISTANCE_UTIL
+                                                                                       )
+                                                                               {
+                                                                                       handleCollisionPair(collisionPairInput, lsMem, spuContacts,
+                                                                                               (ppu_address_t)lsMem.getColObj0()->getCollisionShape(), &lsMem.gCollisionShapes[0].collisionShape,
+                                                                                               (ppu_address_t)lsMem.getColObj1()->getCollisionShape(), &lsMem.gCollisionShapes[1].collisionShape);
+                                                                               } else
+                                                                               {
+                                                                                               //spu_printf("boxbox dist = %f\n",distance);
+                                                                                       btPersistentManifold* spuManifold=lsMem.getContactManifoldPtr();
+                                                                                       btPersistentManifold* manifold = (btPersistentManifold*)collisionPairInput.m_persistentManifoldPtr;
+                                                                                       ppu_address_t manifoldAddress = (ppu_address_t)manifold;
+
+                                                                                       spuContacts.setContactInfo(spuManifold,manifoldAddress,lsMem.getColObj0()->getWorldTransform(),
+                                                                                               lsMem.getColObj1()->getWorldTransform(),
+                                                                                               lsMem.getColObj0()->getRestitution(),lsMem.getColObj1()->getRestitution(),
+                                                                                               lsMem.getColObj0()->getFriction(),lsMem.getColObj1()->getFriction(),
+                                                                                               collisionPairInput.m_isSwapped);
+
+                                                                                       spuContacts.flush();
+                                                                               }
+                                                                       }
+                                                               
+                                                               }
+
+                                                       }
+                                               }
+
+#ifdef USE_SEPDISTANCE_UTIL
+#if defined (__SPU__) || defined (USE_LIBSPE2)
+                                               if (lsMem.needsDmaPutContactManifoldAlgo)
+                                               {
+                                                       dmaSize = sizeof(SpuContactManifoldCollisionAlgorithm);
+                                                       dmaPpuAddress2 = (ppu_address_t)pair.m_algorithm;
+                                                       cellDmaLargePut(&lsMem.gSpuContactManifoldAlgoBuffer, dmaPpuAddress2  , dmaSize, DMA_TAG(1), 0, 0);
+                                                       cellDmaWaitTagStatusAll(DMA_MASK(1));
+                                               }
+#endif
+#endif //#ifdef USE_SEPDISTANCE_UTIL
+
+                                       }
+                               }
+                       }
+               } //end for (j = 0; j < numOnPage; j++)
+
+       }//     for 
+
+
+
+       return;
+}
+
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h
new file mode 100644 (file)
index 0000000..64af964
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h
@@ -0,0 +1,140 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef SPU_GATHERING_COLLISION_TASK_H
+#define SPU_GATHERING_COLLISION_TASK_H
+
+#include "../PlatformDefinitions.h"
+//#define DEBUG_SPU_COLLISION_DETECTION 1
+
+
+///Task Description for SPU collision detection
+struct SpuGatherAndProcessPairsTaskDesc 
+{
+       ppu_address_t   m_inPairPtr;//m_pairArrayPtr;
+       //mutex variable
+       uint32_t        m_someMutexVariableInMainMemory;
+
+       ppu_address_t   m_dispatcher;
+
+       uint32_t        numOnLastPage;
+
+       uint16_t numPages;
+       uint16_t taskId;
+       bool m_useEpa;
+
+       struct  CollisionTask_LocalStoreMemory* m_lsMemory; 
+}
+
+#if  defined(__CELLOS_LV2__) || defined(USE_LIBSPE2)
+__attribute__ ((aligned (128)))
+#endif
+;
+
+
+void   processCollisionTask(void* userPtr, void* lsMemory);
+
+void*  createCollisionLocalStoreMemory();
+void deleteCollisionLocalStoreMemory();
+
+#if defined(USE_LIBSPE2) && defined(__SPU__)
+#include "../SpuLibspe2Support.h"
+#include <spu_intrinsics.h>
+#include <spu_mfcio.h>
+#include <SpuFakeDma.h>
+
+//#define DEBUG_LIBSPE2_SPU_TASK
+
+
+
+int main(unsigned long long speid, addr64 argp, addr64 envp)
+{
+       printf("SPU: hello \n");
+       
+       ATTRIBUTE_ALIGNED128(btSpuStatus status);
+       ATTRIBUTE_ALIGNED16( SpuGatherAndProcessPairsTaskDesc taskDesc ) ;
+       unsigned int received_message = Spu_Mailbox_Event_Nothing;
+    bool shutdown = false;
+
+       cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
+       cellDmaWaitTagStatusAll(DMA_MASK(3));
+
+       status.m_status = Spu_Status_Free;
+       status.m_lsMemory.p = createCollisionLocalStoreMemory();
+
+       cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
+       cellDmaWaitTagStatusAll(DMA_MASK(3));
+       
+       
+       while ( btLikely( !shutdown ) )
+       {
+               
+               received_message = spu_read_in_mbox();
+               
+               if( btLikely( received_message == Spu_Mailbox_Event_Task ))
+               {
+#ifdef DEBUG_LIBSPE2_SPU_TASK
+                       printf("SPU: received Spu_Mailbox_Event_Task\n");
+#endif //DEBUG_LIBSPE2_SPU_TASK
+
+                       // refresh the status
+                       cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
+                       cellDmaWaitTagStatusAll(DMA_MASK(3));
+               
+                       btAssert(status.m_status==Spu_Status_Occupied);
+                       
+                       cellDmaGet(&taskDesc, status.m_taskDesc.p, sizeof(SpuGatherAndProcessPairsTaskDesc), DMA_TAG(3), 0, 0);
+                       cellDmaWaitTagStatusAll(DMA_MASK(3));
+#ifdef DEBUG_LIBSPE2_SPU_TASK          
+                       printf("SPU:processCollisionTask\n");   
+#endif //DEBUG_LIBSPE2_SPU_TASK
+                       processCollisionTask((void*)&taskDesc, taskDesc.m_lsMemory);
+                       
+#ifdef DEBUG_LIBSPE2_SPU_TASK
+                       printf("SPU:finished processCollisionTask\n");
+#endif //DEBUG_LIBSPE2_SPU_TASK
+               }
+               else
+               {
+#ifdef DEBUG_LIBSPE2_SPU_TASK
+                       printf("SPU: received ShutDown\n");
+#endif //DEBUG_LIBSPE2_SPU_TASK
+                       if( btLikely( received_message == Spu_Mailbox_Event_Shutdown ) )
+                       {
+                               shutdown = true;
+                       }
+                       else
+                       {
+                               //printf("SPU - Sth. recieved\n");
+                       }
+               }
+
+               // set to status free and wait for next task
+               status.m_status = Spu_Status_Free;
+               cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
+               cellDmaWaitTagStatusAll(DMA_MASK(3));           
+                               
+               
+       }
+
+       printf("SPU: shutdown\n");
+       return 0;
+}
+#endif // USE_LIBSPE2
+
+
+#endif //SPU_GATHERING_COLLISION_TASK_H
+
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuLocalSupport.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuLocalSupport.h
new file mode 100644 (file)
index 0000000..8b89de0
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuLocalSupport.h
@@ -0,0 +1,19 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp
new file mode 100644 (file)
index 0000000..9f7e64d
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp
@@ -0,0 +1,348 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "SpuMinkowskiPenetrationDepthSolver.h"
+#include "SpuContactResult.h"
+#include "SpuPreferredPenetrationDirections.h"
+#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
+#include "SpuCollisionShapes.h"
+
+#define NUM_UNITSPHERE_POINTS 42
+static btVector3       sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] = 
+{
+btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
+btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
+btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
+btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
+btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
+btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
+btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
+btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
+btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
+btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
+btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
+btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
+btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
+btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
+btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
+btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
+btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
+btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
+btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
+btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
+btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
+btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
+btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
+btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
+btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
+btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
+btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
+btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
+btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
+btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
+btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
+btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
+btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
+btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
+btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
+btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
+btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
+btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
+btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
+btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
+btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
+btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
+};
+
+
+bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver,
+               const btConvexShape* convexA,const btConvexShape* convexB,
+                                       const btTransform& transA,const btTransform& transB,
+                               btVector3& v, btVector3& pa, btVector3& pb,
+                               class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc)
+{
+#if 0
+       (void)stackAlloc;
+       (void)v;
+       
+
+       struct btIntermediateResult : public SpuContactResult
+       {
+
+               btIntermediateResult():m_hasResult(false)
+               {
+               }
+               
+               btVector3 m_normalOnBInWorld;
+               btVector3 m_pointInWorld;
+               btScalar m_depth;
+               bool    m_hasResult;
+
+               virtual void setShapeIdentifiersA(int partId0,int index0)
+               {
+                       (void)partId0;
+                       (void)index0;
+               }
+
+               virtual void setShapeIdentifiersB(int partId1,int index1)
+               {
+                       (void)partId1;
+                       (void)index1;
+               }
+               void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
+               {
+                       m_normalOnBInWorld = normalOnBInWorld;
+                       m_pointInWorld = pointInWorld;
+                       m_depth = depth;
+                       m_hasResult = true;
+               }
+       };
+
+       //just take fixed number of orientation, and sample the penetration depth in that direction
+       btScalar minProj = btScalar(BT_LARGE_FLOAT);
+       btVector3 minNorm(0.f,0.f,0.f);
+       btVector3 minVertex;
+       btVector3 minA,minB;
+       btVector3 seperatingAxisInA,seperatingAxisInB;
+       btVector3 pInA,qInB,pWorld,qWorld,w;
+
+//#define USE_BATCHED_SUPPORT 1
+#ifdef USE_BATCHED_SUPPORT
+
+       btVector3       supportVerticesABatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
+       btVector3       supportVerticesBBatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
+       btVector3       seperatingAxisInABatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
+       btVector3       seperatingAxisInBBatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
+       int i;
+
+       int numSampleDirections = NUM_UNITSPHERE_POINTS;
+
+       for (i=0;i<numSampleDirections;i++)
+       {
+               const btVector3& norm = sPenetrationDirections[i];
+               seperatingAxisInABatch[i] =  (-norm) * transA.getBasis() ;
+               seperatingAxisInBBatch[i] =  norm   * transB.getBasis() ;
+       }
+
+       {
+               int numPDA = convexA->getNumPreferredPenetrationDirections();
+               if (numPDA)
+               {
+                       for (int i=0;i<numPDA;i++)
+                       {
+                               btVector3 norm;
+                               convexA->getPreferredPenetrationDirection(i,norm);
+                               norm  = transA.getBasis() * norm;
+                               sPenetrationDirections[numSampleDirections] = norm;
+                               seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
+                               seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
+                               numSampleDirections++;
+                       }
+               }
+       }
+
+       {
+               int numPDB = convexB->getNumPreferredPenetrationDirections();
+               if (numPDB)
+               {
+                       for (int i=0;i<numPDB;i++)
+                       {
+                               btVector3 norm;
+                               convexB->getPreferredPenetrationDirection(i,norm);
+                               norm  = transB.getBasis() * norm;
+                               sPenetrationDirections[numSampleDirections] = norm;
+                               seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
+                               seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
+                               numSampleDirections++;
+                       }
+               }
+       }
+
+
+
+       convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch,supportVerticesABatch,numSampleDirections);
+       convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch,supportVerticesBBatch,numSampleDirections);
+
+       for (i=0;i<numSampleDirections;i++)
+       {
+               const btVector3& norm = sPenetrationDirections[i];
+               seperatingAxisInA = seperatingAxisInABatch[i];
+               seperatingAxisInB = seperatingAxisInBBatch[i];
+
+               pInA = supportVerticesABatch[i];
+               qInB = supportVerticesBBatch[i];
+
+               pWorld = transA(pInA);  
+               qWorld = transB(qInB);
+               w       = qWorld - pWorld;
+               btScalar delta = norm.dot(w);
+               //find smallest delta
+               if (delta < minProj)
+               {
+                       minProj = delta;
+                       minNorm = norm;
+                       minA = pWorld;
+                       minB = qWorld;
+               }
+       }       
+#else
+
+       int numSampleDirections = NUM_UNITSPHERE_POINTS;
+
+///this is necessary, otherwise the normal is not correct, and sphere will rotate forever on a sloped triangle mesh
+#define DO_PREFERRED_DIRECTIONS 1
+#ifdef DO_PREFERRED_DIRECTIONS
+       {
+               int numPDA = spuGetNumPreferredPenetrationDirections(shapeTypeA,convexA);
+               if (numPDA)
+               {
+                       for (int i=0;i<numPDA;i++)
+                       {
+                               btVector3 norm;
+                               spuGetPreferredPenetrationDirection(shapeTypeA,convexA,i,norm);
+                               norm  = transA.getBasis() * norm;
+                               sPenetrationDirections[numSampleDirections] = norm;
+                               numSampleDirections++;
+                       }
+               }
+       }
+
+       {
+               int numPDB = spuGetNumPreferredPenetrationDirections(shapeTypeB,convexB);
+               if (numPDB)
+               {
+                       for (int i=0;i<numPDB;i++)
+                       {
+                               btVector3 norm;
+                               spuGetPreferredPenetrationDirection(shapeTypeB,convexB,i,norm);
+                               norm  = transB.getBasis() * norm;
+                               sPenetrationDirections[numSampleDirections] = norm;
+                               numSampleDirections++;
+                       }
+               }
+       }
+#endif //DO_PREFERRED_DIRECTIONS
+
+       for (int i=0;i<numSampleDirections;i++)
+       {
+               const btVector3& norm = sPenetrationDirections[i];
+               seperatingAxisInA = (-norm)* transA.getBasis();
+               seperatingAxisInB = norm* transB.getBasis();
+
+               pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual( seperatingAxisInA);//, NULL);
+               qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);//, NULL);
+
+       //      pInA = convexA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
+       //      qInB = convexB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
+
+               pWorld = transA(pInA);  
+               qWorld = transB(qInB);
+               w       = qWorld - pWorld;
+               btScalar delta = norm.dot(w);
+               //find smallest delta
+               if (delta < minProj)
+               {
+                       minProj = delta;
+                       minNorm = norm;
+                       minA = pWorld;
+                       minB = qWorld;
+               }
+       }
+#endif //USE_BATCHED_SUPPORT
+
+       //add the margins
+
+       minA += minNorm*marginA;
+       minB -= minNorm*marginB;
+       //no penetration
+       if (minProj < btScalar(0.))
+               return false;
+
+       minProj += (marginA + marginB) + btScalar(1.00);
+
+
+
+
+
+//#define DEBUG_DRAW 1
+#ifdef DEBUG_DRAW
+       if (debugDraw)
+       {
+               btVector3 color(0,1,0);
+               debugDraw->drawLine(minA,minB,color);
+               color = btVector3 (1,1,1);
+               btVector3 vec = minB-minA;
+               btScalar prj2 = minNorm.dot(vec);
+               debugDraw->drawLine(minA,minA+(minNorm*minProj),color);
+
+       }
+#endif //DEBUG_DRAW
+
+       
+       btGjkPairDetector gjkdet(convexA,convexB,&simplexSolver,0);
+
+       btScalar offsetDist = minProj;
+       btVector3 offset = minNorm * offsetDist;
+       
+
+       SpuClosestPointInput input;
+       input.m_convexVertexData[0] = convexVertexDataA;
+       input.m_convexVertexData[1] = convexVertexDataB;
+       btVector3 newOrg = transA.getOrigin() + offset;
+
+       btTransform displacedTrans = transA;
+       displacedTrans.setOrigin(newOrg);
+
+       input.m_transformA = displacedTrans;
+       input.m_transformB = transB;
+       input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);//minProj;
+       
+       btIntermediateResult res;
+       gjkdet.getClosestPoints(input,res,0);
+
+       btScalar correctedMinNorm = minProj - res.m_depth;
+
+
+       //the penetration depth is over-estimated, relax it
+       btScalar penetration_relaxation= btScalar(1.);
+       minNorm*=penetration_relaxation;
+
+       if (res.m_hasResult)
+       {
+
+               pa = res.m_pointInWorld - minNorm * correctedMinNorm;
+               pb = res.m_pointInWorld;
+               
+#ifdef DEBUG_DRAW
+               if (debugDraw)
+               {
+                       btVector3 color(1,0,0);
+                       debugDraw->drawLine(pa,pb,color);
+               }
+#endif//DEBUG_DRAW
+
+
+       } else {
+               // could not seperate shapes
+               //btAssert (false);
+       }
+       return res.m_hasResult;
+#endif
+       return false;
+}
+
+
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h
new file mode 100644 (file)
index 0000000..18ad223
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h
@@ -0,0 +1,48 @@
+
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
+#define MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
+
+
+#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
+
+class btStackAlloc;
+class btIDebugDraw;
+class btVoronoiSimplexSolver;
+class btConvexShape;
+
+///MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation.
+///Implementation is based on sampling the depth using support mapping, and using GJK step to get the witness points.
+class SpuMinkowskiPenetrationDepthSolver : public btConvexPenetrationDepthSolver
+{
+public:
+       SpuMinkowskiPenetrationDepthSolver() {}
+       virtual ~SpuMinkowskiPenetrationDepthSolver() {};
+
+               virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
+               const btConvexShape* convexA,const btConvexShape* convexB,
+                                       const btTransform& transA,const btTransform& transB,
+                               btVector3& v, btVector3& pa, btVector3& pb,
+                               class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
+                               );
+
+
+};
+
+
+#endif //MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h
new file mode 100644 (file)
index 0000000..774a0cb
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h
@@ -0,0 +1,70 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef _SPU_PREFERRED_PENETRATION_DIRECTIONS_H
+#define _SPU_PREFERRED_PENETRATION_DIRECTIONS_H
+
+
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+
+int            spuGetNumPreferredPenetrationDirections(int shapeType, void* shape)
+{
+       switch (shapeType)
+    {
+               case TRIANGLE_SHAPE_PROXYTYPE:
+               {
+                       return 2;
+                       //spu_printf("2\n");
+                       break;
+               }
+               default:
+                       {
+#if __ASSERT
+        spu_printf("spuGetNumPreferredPenetrationDirections() - Unsupported bound type: %d.\n", shapeType);
+#endif // __ASSERT
+                       }
+       }
+
+       return 0;       
+}      
+
+void   spuGetPreferredPenetrationDirection(int shapeType, void* shape, int index, btVector3& penetrationVector)
+{
+
+
+       switch (shapeType)
+    {
+               case TRIANGLE_SHAPE_PROXYTYPE:
+               {
+                       btVector3* vertices = (btVector3*)shape;
+                       ///calcNormal
+                       penetrationVector = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]);
+                       penetrationVector.normalize();
+                       if (index)
+                               penetrationVector *= btScalar(-1.);
+                       break;
+               }
+               default:
+                       {
+                                       
+#if __ASSERT
+        spu_printf("spuGetNumPreferredPenetrationDirections() - Unsupported bound type: %d.\n", shapeType);
+#endif // __ASSERT
+                       }
+       }
+               
+}
+
+#endif //_SPU_PREFERRED_PENETRATION_DIRECTIONS_H

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.cpp b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.cpp
new file mode 100644 (file)
index 0000000..5e1202c
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.cpp
@@ -0,0 +1,1160 @@
+/*
+   Copyright (C) 2006, 2008 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+*/
+
+
+//#include "PfxContactBoxBox.h"
+
+#include <math.h>
+#include "../PlatformDefinitions.h"
+#include "boxBoxDistance.h"
+
+static inline float sqr( float a )
+{
+       return (a * a);
+}
+
+enum BoxSepAxisType
+{
+       A_AXIS, B_AXIS, CROSS_AXIS
+};
+
+//-------------------------------------------------------------------------------------------------
+// voronoiTol: bevels Voronoi planes slightly which helps when features are parallel.
+//-------------------------------------------------------------------------------------------------
+
+static const float voronoiTol = -1.0e-5f;
+
+//-------------------------------------------------------------------------------------------------
+// separating axis tests: gaps along each axis are computed, and the axis with the maximum
+// gap is stored.  cross product axes are normalized.
+//-------------------------------------------------------------------------------------------------
+
+#define AaxisTest( dim, letter, first )                                                         \
+{                                                                                               \
+   if ( first )                                                                                 \
+   {                                                                                            \
+      maxGap = gap = gapsA.get##letter();                                                      \
+      if ( gap > distanceThreshold ) return gap;                                                \
+      axisType = A_AXIS;                                                                        \
+      faceDimA = dim;                                                                           \
+      axisA = identity.getCol##dim();                                                          \
+   }                                                                                            \
+   else                                                                                         \
+   {                                                                                            \
+      gap = gapsA.get##letter();                                                               \
+      if ( gap > distanceThreshold ) return gap;                                                \
+      else if ( gap > maxGap )                                                                  \
+      {                                                                                         \
+         maxGap = gap;                                                                          \
+         axisType = A_AXIS;                                                                     \
+         faceDimA = dim;                                                                        \
+         axisA = identity.getCol##dim();                                                       \
+      }                                                                                         \
+   }                                                                                            \
+}
+
+
+#define BaxisTest( dim, letter )                                                                \
+{                                                                                               \
+   gap = gapsB.get##letter();                                                                  \
+   if ( gap > distanceThreshold ) return gap;                                                   \
+   else if ( gap > maxGap )                                                                     \
+   {                                                                                            \
+      maxGap = gap;                                                                             \
+      axisType = B_AXIS;                                                                        \
+      faceDimB = dim;                                                                           \
+      axisB = identity.getCol##dim();                                                          \
+   }                                                                                            \
+}
+
+#define CrossAxisTest( dima, dimb, letterb )                                                    \
+{                                                                                               \
+   const float lsqr_tolerance = 1.0e-30f;                                                       \
+   float lsqr;                                                                                  \
+                                                                                                \
+   lsqr = lsqrs.getCol##dima().get##letterb();                                                \
+                                                                                                \
+   if ( lsqr > lsqr_tolerance )                                                                 \
+   {                                                                                            \
+      float l_recip = 1.0f / sqrtf( lsqr );                                                     \
+      gap = float(gapsAxB.getCol##dima().get##letterb()) * l_recip;                           \
+                                                                                                \
+      if ( gap > distanceThreshold )                                                            \
+      {                                                                                         \
+         return gap;                                                                            \
+      }                                                                                         \
+                                                                                                \
+      if ( gap > maxGap )                                                                       \
+      {                                                                                         \
+         maxGap = gap;                                                                          \
+         axisType = CROSS_AXIS;                                                                 \
+         edgeDimA = dima;                                                                       \
+         edgeDimB = dimb;                                                                       \
+         axisA = cross(identity.getCol##dima(),matrixAB.getCol##dimb()) * l_recip;            \
+      }                                                                                         \
+   }                                                                                            \
+}
+
+//-------------------------------------------------------------------------------------------------
+// tests whether a vertex of box B and a face of box A are the closest features
+//-------------------------------------------------------------------------------------------------
+
+inline
+float
+VertexBFaceATest(
+       bool & inVoronoi,
+       float & t0,
+       float & t1,
+       const vmVector3 & hA,
+       PE_REF(vmVector3) faceOffsetAB,
+       PE_REF(vmVector3) faceOffsetBA,
+       const vmMatrix3 & matrixAB,
+       const vmMatrix3 & matrixBA,
+       PE_REF(vmVector3) signsB,
+       PE_REF(vmVector3) scalesB )
+{
+       // compute a corner of box B in A's coordinate system
+
+       vmVector3 corner =
+               vmVector3( faceOffsetAB + matrixAB.getCol0() * scalesB.getX() + matrixAB.getCol1() * scalesB.getY() );
+
+       // compute the parameters of the point on A, closest to this corner
+
+       t0 = corner[0];
+       t1 = corner[1];
+
+       if ( t0 > hA[0] )
+               t0 = hA[0];
+       else if ( t0 < -hA[0] )
+               t0 = -hA[0];
+       if ( t1 > hA[1] )
+               t1 = hA[1];
+       else if ( t1 < -hA[1] )
+               t1 = -hA[1];
+
+       // do the Voronoi test: already know the point on B is in the Voronoi region of the
+       // point on A, check the reverse.
+
+       vmVector3 facePointB =
+               vmVector3( mulPerElem( faceOffsetBA + matrixBA.getCol0() * t0 + matrixBA.getCol1() * t1 - scalesB, signsB ) );
+
+       inVoronoi = ( ( facePointB[0] >= voronoiTol * facePointB[2] ) &&
+                                 ( facePointB[1] >= voronoiTol * facePointB[0] ) &&
+                                 ( facePointB[2] >= voronoiTol * facePointB[1] ) );
+
+       return (sqr( corner[0] - t0 ) + sqr( corner[1] - t1 ) + sqr( corner[2] ));
+}
+
+#define VertexBFaceA_SetNewMin()                \
+{                                               \
+   minDistSqr = distSqr;                        \
+   localPointA.setX(t0);                        \
+   localPointA.setY(t1);                        \
+   localPointB.setX( scalesB.getX() );          \
+   localPointB.setY( scalesB.getY() );          \
+   featureA = F;                                \
+   featureB = V;                                \
+}
+
+void
+VertexBFaceATests(
+       bool & done,
+       float & minDistSqr,
+       vmPoint3 & localPointA,
+       vmPoint3 & localPointB,
+       FeatureType & featureA,
+       FeatureType & featureB,
+       const vmVector3 & hA,
+       PE_REF(vmVector3) faceOffsetAB,
+       PE_REF(vmVector3) faceOffsetBA,
+       const vmMatrix3 & matrixAB,
+       const vmMatrix3 & matrixBA,
+       PE_REF(vmVector3) signsB,
+       PE_REF(vmVector3) scalesB,
+       bool first )
+{
+               
+       float t0, t1;
+       float distSqr;
+
+       distSqr = VertexBFaceATest( done, t0, t1, hA, faceOffsetAB, faceOffsetBA,
+                                                               matrixAB, matrixBA, signsB, scalesB );
+
+       if ( first ) {
+               VertexBFaceA_SetNewMin();
+       } else {
+               if ( distSqr < minDistSqr ) {
+                       VertexBFaceA_SetNewMin();
+               }
+       }
+
+       if ( done )
+               return;
+
+       signsB.setX( -signsB.getX() );
+       scalesB.setX( -scalesB.getX() );
+
+       distSqr = VertexBFaceATest( done, t0, t1, hA, faceOffsetAB, faceOffsetBA,
+                                                               matrixAB, matrixBA, signsB, scalesB );
+
+       if ( distSqr < minDistSqr ) {
+               VertexBFaceA_SetNewMin();
+       }
+
+       if ( done )
+               return;
+
+       signsB.setY( -signsB.getY() );
+       scalesB.setY( -scalesB.getY() );
+
+       distSqr = VertexBFaceATest( done, t0, t1, hA, faceOffsetAB, faceOffsetBA,
+                                                               matrixAB, matrixBA, signsB, scalesB );
+
+       if ( distSqr < minDistSqr ) {
+               VertexBFaceA_SetNewMin();
+       }
+
+       if ( done )
+               return;
+
+       signsB.setX( -signsB.getX() );
+       scalesB.setX( -scalesB.getX() );
+
+       distSqr = VertexBFaceATest( done, t0, t1, hA, faceOffsetAB, faceOffsetBA,
+                                                               matrixAB, matrixBA, signsB, scalesB );
+
+       if ( distSqr < minDistSqr ) {
+               VertexBFaceA_SetNewMin();
+       }
+}
+
+//-------------------------------------------------------------------------------------------------
+// VertexAFaceBTest: tests whether a vertex of box A and a face of box B are the closest features
+//-------------------------------------------------------------------------------------------------
+
+inline
+float
+VertexAFaceBTest(
+       bool & inVoronoi,
+       float & t0,
+       float & t1,
+       const vmVector3 & hB,
+       PE_REF(vmVector3) faceOffsetAB,
+       PE_REF(vmVector3) faceOffsetBA,
+       const vmMatrix3 & matrixAB,
+       const vmMatrix3 & matrixBA,
+       PE_REF(vmVector3) signsA,
+       PE_REF(vmVector3) scalesA )
+{
+       vmVector3 corner =
+               vmVector3( faceOffsetBA + matrixBA.getCol0() * scalesA.getX() + matrixBA.getCol1() * scalesA.getY() );
+
+       t0 = corner[0];
+       t1 = corner[1];
+
+       if ( t0 > hB[0] )
+               t0 = hB[0];
+       else if ( t0 < -hB[0] )
+               t0 = -hB[0];
+       if ( t1 > hB[1] )
+               t1 = hB[1];
+       else if ( t1 < -hB[1] )
+               t1 = -hB[1];
+
+       vmVector3 facePointA =
+               vmVector3( mulPerElem( faceOffsetAB + matrixAB.getCol0() * t0 + matrixAB.getCol1() * t1 - scalesA, signsA ) );
+
+       inVoronoi = ( ( facePointA[0] >= voronoiTol * facePointA[2] ) &&
+                                 ( facePointA[1] >= voronoiTol * facePointA[0] ) &&
+                                 ( facePointA[2] >= voronoiTol * facePointA[1] ) );
+
+       return (sqr( corner[0] - t0 ) + sqr( corner[1] - t1 ) + sqr( corner[2] ));
+}
+
+#define VertexAFaceB_SetNewMin()                \
+{                                               \
+   minDistSqr = distSqr;                        \
+   localPointB.setX(t0);                        \
+   localPointB.setY(t1);                        \
+   localPointA.setX( scalesA.getX() );          \
+   localPointA.setY( scalesA.getY() );          \
+   featureA = V;                                \
+   featureB = F;                                \
+}
+
+void
+VertexAFaceBTests(
+       bool & done,
+       float & minDistSqr,
+       vmPoint3 & localPointA,
+       vmPoint3 & localPointB,
+       FeatureType & featureA,
+       FeatureType & featureB,
+       const vmVector3 & hB,
+       PE_REF(vmVector3) faceOffsetAB,
+       PE_REF(vmVector3) faceOffsetBA,
+       const vmMatrix3 & matrixAB,
+       const vmMatrix3 & matrixBA,
+       PE_REF(vmVector3) signsA,
+       PE_REF(vmVector3) scalesA,
+       bool first )
+{
+       float t0, t1;
+       float distSqr;
+
+       distSqr = VertexAFaceBTest( done, t0, t1, hB, faceOffsetAB, faceOffsetBA,
+                                                               matrixAB, matrixBA, signsA, scalesA );
+
+       if ( first ) {
+               VertexAFaceB_SetNewMin();
+       } else {
+               if ( distSqr < minDistSqr ) {
+                       VertexAFaceB_SetNewMin();
+               }
+       }
+
+       if ( done )
+               return;
+
+       signsA.setX( -signsA.getX() );
+       scalesA.setX( -scalesA.getX() );
+
+       distSqr = VertexAFaceBTest( done, t0, t1, hB, faceOffsetAB, faceOffsetBA,
+                                                               matrixAB, matrixBA, signsA, scalesA );
+
+       if ( distSqr < minDistSqr ) {
+               VertexAFaceB_SetNewMin();
+       }
+
+       if ( done )
+               return;
+
+       signsA.setY( -signsA.getY() );
+       scalesA.setY( -scalesA.getY() );
+
+       distSqr = VertexAFaceBTest( done, t0, t1, hB, faceOffsetAB, faceOffsetBA,
+                                                               matrixAB, matrixBA, signsA, scalesA );
+
+       if ( distSqr < minDistSqr ) {
+               VertexAFaceB_SetNewMin();
+       }
+
+       if ( done )
+               return;
+
+       signsA.setX( -signsA.getX() );
+       scalesA.setX( -scalesA.getX() );
+
+       distSqr = VertexAFaceBTest( done, t0, t1, hB, faceOffsetAB, faceOffsetBA,
+                                                               matrixAB, matrixBA, signsA, scalesA );
+
+       if ( distSqr < minDistSqr ) {
+               VertexAFaceB_SetNewMin();
+       }
+}
+
+//-------------------------------------------------------------------------------------------------
+// CustomEdgeEdgeTest:
+//
+// tests whether a pair of edges are the closest features
+//
+// note on the shorthand:
+// 'a' & 'b' refer to the edges.
+// 'c' is the dimension of the axis that points from the face center to the edge Center
+// 'd' is the dimension of the edge Direction
+// the dimension of the face normal is 2
+//-------------------------------------------------------------------------------------------------
+
+#define CustomEdgeEdgeTest( ac, ac_letter, ad, ad_letter, bc, bc_letter, bd, bd_letter )              \
+{                                                                                               \
+   vmVector3 edgeOffsetAB;                                                                          \
+   vmVector3 edgeOffsetBA;                                                                          \
+                                                                                                \
+   edgeOffsetAB = faceOffsetAB + matrixAB.getCol##bc() * scalesB.get##bc_letter();            \
+   edgeOffsetAB.set##ac_letter( edgeOffsetAB.get##ac_letter() - scalesA.get##ac_letter() );  \
+                                                                                                \
+   edgeOffsetBA = faceOffsetBA + matrixBA.getCol##ac() * scalesA.get##ac_letter();            \
+   edgeOffsetBA.set##bc_letter( edgeOffsetBA.get##bc_letter() - scalesB.get##bc_letter() );  \
+                                                                                                \
+   float dirDot = matrixAB.getCol##bd().get##ad_letter();                                     \
+   float denom = 1.0f - dirDot*dirDot;                                                          \
+   float edgeOffsetAB_ad = edgeOffsetAB.get##ad_letter();                                      \
+   float edgeOffsetBA_bd = edgeOffsetBA.get##bd_letter();                                      \
+                                                                                                \
+   if ( denom == 0.0f )                                                                         \
+   {                                                                                            \
+      tA = 0.0f;                                                                                \
+   }                                                                                            \
+   else                                                                                         \
+   {                                                                                            \
+      tA = ( edgeOffsetAB_ad + edgeOffsetBA_bd * dirDot ) / denom;                              \
+   }                                                                                            \
+                                                                                                \
+   if ( tA < -hA[ad] ) tA = -hA[ad];                                                            \
+   else if ( tA > hA[ad] ) tA = hA[ad];                                                         \
+                                                                                                \
+   tB = tA * dirDot + edgeOffsetBA_bd;                                                          \
+                                                                                                \
+   if ( tB < -hB[bd] )                                                                          \
+   {                                                                                            \
+      tB = -hB[bd];                                                                             \
+      tA = tB * dirDot + edgeOffsetAB_ad;                                                       \
+                                                                                                \
+      if ( tA < -hA[ad] ) tA = -hA[ad];                                                         \
+      else if ( tA > hA[ad] ) tA = hA[ad];                                                      \
+   }                                                                                            \
+   else if ( tB > hB[bd] )                                                                      \
+   {                                                                                            \
+      tB = hB[bd];                                                                              \
+      tA = tB * dirDot + edgeOffsetAB_ad;                                                       \
+                                                                                                \
+      if ( tA < -hA[ad] ) tA = -hA[ad];                                                         \
+      else if ( tA > hA[ad] ) tA = hA[ad];                                                      \
+   }                                                                                            \
+                                                                                                \
+   vmVector3 edgeOffAB = vmVector3( mulPerElem( edgeOffsetAB + matrixAB.getCol##bd() * tB, signsA ) );\
+   vmVector3 edgeOffBA = vmVector3( mulPerElem( edgeOffsetBA + matrixBA.getCol##ad() * tA, signsB ) );\
+                                                                                                \
+   inVoronoi = ( edgeOffAB[ac] >= voronoiTol * edgeOffAB[2] ) &&                                \
+               ( edgeOffAB[2] >= voronoiTol * edgeOffAB[ac] ) &&                                \
+               ( edgeOffBA[bc] >= voronoiTol * edgeOffBA[2] ) &&                                \
+               ( edgeOffBA[2] >= voronoiTol * edgeOffBA[bc] );                                  \
+                                                                                                \
+   edgeOffAB[ad] -= tA;                                                                         \
+   edgeOffBA[bd] -= tB;                                                                         \
+                                                                                                \
+   return dot(edgeOffAB,edgeOffAB);                                                             \
+}
+
+float
+CustomEdgeEdgeTest_0101(
+       bool & inVoronoi,
+       float & tA,
+       float & tB,
+       const vmVector3 & hA,
+       const vmVector3 & hB,
+       PE_REF(vmVector3) faceOffsetAB,
+       PE_REF(vmVector3) faceOffsetBA,
+       const vmMatrix3 & matrixAB,
+       const vmMatrix3 & matrixBA,
+       PE_REF(vmVector3) signsA,
+       PE_REF(vmVector3) signsB,
+       PE_REF(vmVector3) scalesA,
+       PE_REF(vmVector3) scalesB )
+{
+       CustomEdgeEdgeTest( 0, X, 1, Y, 0, X, 1, Y );
+}
+
+float
+CustomEdgeEdgeTest_0110(
+       bool & inVoronoi,
+       float & tA,
+       float & tB,
+       const vmVector3 & hA,
+       const vmVector3 & hB,
+       PE_REF(vmVector3) faceOffsetAB,
+       PE_REF(vmVector3) faceOffsetBA,
+       const vmMatrix3 & matrixAB,
+       const vmMatrix3 & matrixBA,
+       PE_REF(vmVector3) signsA,
+       PE_REF(vmVector3) signsB,
+       PE_REF(vmVector3) scalesA,
+       PE_REF(vmVector3) scalesB )
+{
+       CustomEdgeEdgeTest( 0, X, 1, Y, 1, Y, 0, X );
+}
+
+float
+CustomEdgeEdgeTest_1001(
+       bool & inVoronoi,
+       float & tA,
+       float & tB,
+       const vmVector3 & hA,
+       const vmVector3 & hB,
+       PE_REF(vmVector3) faceOffsetAB,
+       PE_REF(vmVector3) faceOffsetBA,
+       const vmMatrix3 & matrixAB,
+       const vmMatrix3 & matrixBA,
+       PE_REF(vmVector3) signsA,
+       PE_REF(vmVector3) signsB,
+       PE_REF(vmVector3) scalesA,
+       PE_REF(vmVector3) scalesB )
+{
+       CustomEdgeEdgeTest( 1, Y, 0, X, 0, X, 1, Y );
+}
+
+float
+CustomEdgeEdgeTest_1010(
+       bool & inVoronoi,
+       float & tA,
+       float & tB,
+       const vmVector3 & hA,
+       const vmVector3 & hB,
+       PE_REF(vmVector3) faceOffsetAB,
+       PE_REF(vmVector3) faceOffsetBA,
+       const vmMatrix3 & matrixAB,
+       const vmMatrix3 & matrixBA,
+       PE_REF(vmVector3) signsA,
+       PE_REF(vmVector3) signsB,
+       PE_REF(vmVector3) scalesA,
+       PE_REF(vmVector3) scalesB )
+{
+       CustomEdgeEdgeTest( 1, Y, 0, X, 1, Y, 0, X );
+}
+
+#define EdgeEdge_SetNewMin( ac_letter, ad_letter, bc_letter, bd_letter )   \
+{                                                                          \
+   minDistSqr = distSqr;                                                   \
+   localPointA.set##ac_letter(scalesA.get##ac_letter());                 \
+   localPointA.set##ad_letter(tA);                                        \
+   localPointB.set##bc_letter(scalesB.get##bc_letter());                 \
+   localPointB.set##bd_letter(tB);                                        \
+   otherFaceDimA = testOtherFaceDimA;                                      \
+   otherFaceDimB = testOtherFaceDimB;                                      \
+   featureA = E;                                                           \
+   featureB = E;                                                           \
+}
+
+void
+EdgeEdgeTests(
+       bool & done,
+       float & minDistSqr,
+       vmPoint3 & localPointA,
+       vmPoint3 & localPointB,
+       int & otherFaceDimA,
+       int & otherFaceDimB,
+       FeatureType & featureA,
+       FeatureType & featureB,
+       const vmVector3 & hA,
+       const vmVector3 & hB,
+       PE_REF(vmVector3) faceOffsetAB,
+       PE_REF(vmVector3) faceOffsetBA,
+       const vmMatrix3 & matrixAB,
+       const vmMatrix3 & matrixBA,
+       PE_REF(vmVector3) signsA,
+       PE_REF(vmVector3) signsB,
+       PE_REF(vmVector3) scalesA,
+       PE_REF(vmVector3) scalesB,
+       bool first )
+{
+
+       float distSqr;
+       float tA, tB;
+
+       int testOtherFaceDimA, testOtherFaceDimB;
+
+       testOtherFaceDimA = 0;
+       testOtherFaceDimB = 0;
+
+       distSqr = CustomEdgeEdgeTest_0101( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
+                                                                matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
+
+       if ( first ) {
+               EdgeEdge_SetNewMin( X, Y, X, Y );
+       } else {
+               if ( distSqr < minDistSqr ) {
+                       EdgeEdge_SetNewMin( X, Y, X, Y );
+               }
+       }
+
+       if ( done )
+               return;
+
+       signsA.setX( -signsA.getX() );
+       scalesA.setX( -scalesA.getX() );
+
+       distSqr = CustomEdgeEdgeTest_0101( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
+                                                                matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
+
+       if ( distSqr < minDistSqr ) {
+               EdgeEdge_SetNewMin( X, Y, X, Y );
+       }
+
+       if ( done )
+               return;
+
+       signsB.setX( -signsB.getX() );
+       scalesB.setX( -scalesB.getX() );
+
+       distSqr = CustomEdgeEdgeTest_0101( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
+                                                                matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
+
+       if ( distSqr < minDistSqr ) {
+               EdgeEdge_SetNewMin( X, Y, X, Y );
+       }
+
+       if ( done )
+               return;
+
+       signsA.setX( -signsA.getX() );
+       scalesA.setX( -scalesA.getX() );
+
+       distSqr = CustomEdgeEdgeTest_0101( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
+                                                                matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
+
+       if ( distSqr < minDistSqr ) {
+               EdgeEdge_SetNewMin( X, Y, X, Y );
+       }
+
+       if ( done )
+               return;
+
+       testOtherFaceDimA = 1;
+       testOtherFaceDimB = 0;
+       signsB.setX( -signsB.getX() );
+       scalesB.setX( -scalesB.getX() );
+
+       distSqr = CustomEdgeEdgeTest_1001( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
+                                                                matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
+
+       if ( distSqr < minDistSqr ) {
+               EdgeEdge_SetNewMin( Y, X, X, Y );
+       }
+
+       if ( done )
+               return;
+
+       signsA.setY( -signsA.getY() );
+       scalesA.setY( -scalesA.getY() );
+
+       distSqr = CustomEdgeEdgeTest_1001( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
+                                                                matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
+
+       if ( distSqr < minDistSqr ) {
+               EdgeEdge_SetNewMin( Y, X, X, Y );
+       }
+
+       if ( done )
+               return;
+
+       signsB.setX( -signsB.getX() );
+       scalesB.setX( -scalesB.getX() );
+
+       distSqr = CustomEdgeEdgeTest_1001( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
+                                                                matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
+
+       if ( distSqr < minDistSqr ) {
+               EdgeEdge_SetNewMin( Y, X, X, Y );
+       }
+
+       if ( done )
+               return;
+
+       signsA.setY( -signsA.getY() );
+       scalesA.setY( -scalesA.getY() );
+
+       distSqr = CustomEdgeEdgeTest_1001( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
+                                                                matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
+
+       if ( distSqr < minDistSqr ) {
+               EdgeEdge_SetNewMin( Y, X, X, Y );
+       }
+
+       if ( done )
+               return;
+
+       testOtherFaceDimA = 0;
+       testOtherFaceDimB = 1;
+       signsB.setX( -signsB.getX() );
+       scalesB.setX( -scalesB.getX() );
+
+       distSqr = CustomEdgeEdgeTest_0110( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
+                                                                matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
+
+       if ( distSqr < minDistSqr ) {
+               EdgeEdge_SetNewMin( X, Y, Y, X );
+       }
+
+       if ( done )
+               return;
+
+       signsA.setX( -signsA.getX() );
+       scalesA.setX( -scalesA.getX() );
+
+       distSqr = CustomEdgeEdgeTest_0110( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
+                                                                matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
+
+       if ( distSqr < minDistSqr ) {
+               EdgeEdge_SetNewMin( X, Y, Y, X );
+       }
+
+       if ( done )
+               return;
+
+       signsB.setY( -signsB.getY() );
+       scalesB.setY( -scalesB.getY() );
+
+       distSqr = CustomEdgeEdgeTest_0110( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
+                                                                matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
+
+       if ( distSqr < minDistSqr ) {
+               EdgeEdge_SetNewMin( X, Y, Y, X );
+       }
+
+       if ( done )
+               return;
+
+       signsA.setX( -signsA.getX() );
+       scalesA.setX( -scalesA.getX() );
+
+       distSqr = CustomEdgeEdgeTest_0110( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
+                                                                matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
+
+       if ( distSqr < minDistSqr ) {
+               EdgeEdge_SetNewMin( X, Y, Y, X );
+       }
+
+       if ( done )
+               return;
+
+       testOtherFaceDimA = 1;
+       testOtherFaceDimB = 1;
+       signsB.setY( -signsB.getY() );
+       scalesB.setY( -scalesB.getY() );
+
+       distSqr = CustomEdgeEdgeTest_1010( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
+                                                                matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
+
+       if ( distSqr < minDistSqr ) {
+               EdgeEdge_SetNewMin( Y, X, Y, X );
+       }
+
+       if ( done )
+               return;
+
+       signsA.setY( -signsA.getY() );
+       scalesA.setY( -scalesA.getY() );
+
+       distSqr = CustomEdgeEdgeTest_1010( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
+                                                                matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
+
+       if ( distSqr < minDistSqr ) {
+               EdgeEdge_SetNewMin( Y, X, Y, X );
+       }
+
+       if ( done )
+               return;
+
+       signsB.setY( -signsB.getY() );
+       scalesB.setY( -scalesB.getY() );
+
+       distSqr = CustomEdgeEdgeTest_1010( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
+                                                                matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
+
+       if ( distSqr < minDistSqr ) {
+               EdgeEdge_SetNewMin( Y, X, Y, X );
+       }
+
+       if ( done )
+               return;
+
+       signsA.setY( -signsA.getY() );
+       scalesA.setY( -scalesA.getY() );
+
+       distSqr = CustomEdgeEdgeTest_1010( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
+                                                                matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
+
+       if ( distSqr < minDistSqr ) {
+               EdgeEdge_SetNewMin( Y, X, Y, X );
+       }
+}
+
+
+float
+boxBoxDistance(vmVector3& normal, BoxPoint& boxPointA, BoxPoint& boxPointB,
+                          PE_REF(Box) boxA, const vmTransform3 & transformA, PE_REF(Box) boxB,
+                          const vmTransform3 & transformB,
+                          float distanceThreshold)
+{
+       vmMatrix3 identity;
+       identity = vmMatrix3::identity();
+       vmVector3 ident[3];
+       ident[0] = identity.getCol0();
+       ident[1] = identity.getCol1();
+       ident[2] = identity.getCol2();
+
+       // get relative transformations
+
+       vmTransform3 transformAB, transformBA;
+       vmMatrix3 matrixAB, matrixBA;
+       vmVector3 offsetAB, offsetBA;
+
+       transformAB = orthoInverse(transformA) * transformB;
+       transformBA = orthoInverse(transformAB);
+
+       matrixAB = transformAB.getUpper3x3();
+       offsetAB = transformAB.getTranslation();
+       matrixBA = transformBA.getUpper3x3();
+       offsetBA = transformBA.getTranslation();
+
+       vmMatrix3 absMatrixAB = absPerElem(matrixAB);
+       vmMatrix3 absMatrixBA = absPerElem(matrixBA);
+
+       // find separating axis with largest gap between projections
+
+       BoxSepAxisType axisType;
+       vmVector3 axisA(0.0f), axisB(0.0f);
+       float gap, maxGap;
+       int faceDimA = 0, faceDimB = 0, edgeDimA = 0, edgeDimB = 0;
+
+       // face axes
+
+       vmVector3  gapsA   = absPerElem(offsetAB) - boxA.mHalf - absMatrixAB * boxB.mHalf;
+
+       AaxisTest(0,X,true);
+       AaxisTest(1,Y,false);
+       AaxisTest(2,Z,false);
+
+       vmVector3  gapsB   = absPerElem(offsetBA) - boxB.mHalf - absMatrixBA * boxA.mHalf;
+
+       BaxisTest(0,X);
+       BaxisTest(1,Y);
+       BaxisTest(2,Z);
+
+       // cross product axes
+
+       // \8aO\90Ï\82ª\82O\82Ì\82Æ\82«\82Ì\91Î\8dô
+       absMatrixAB += vmMatrix3(1.0e-5f);
+       absMatrixBA += vmMatrix3(1.0e-5f);
+
+       vmMatrix3 lsqrs, projOffset, projAhalf, projBhalf;
+
+       lsqrs.setCol0( mulPerElem( matrixBA.getCol2(), matrixBA.getCol2() ) +
+                                  mulPerElem( matrixBA.getCol1(), matrixBA.getCol1() ) );
+       lsqrs.setCol1( mulPerElem( matrixBA.getCol2(), matrixBA.getCol2() ) +
+                                  mulPerElem( matrixBA.getCol0(), matrixBA.getCol0() ) );
+       lsqrs.setCol2( mulPerElem( matrixBA.getCol1(), matrixBA.getCol1() ) +
+                                  mulPerElem( matrixBA.getCol0(), matrixBA.getCol0() ) );
+
+       projOffset.setCol0(matrixBA.getCol1() * offsetAB.getZ() - matrixBA.getCol2() * offsetAB.getY());
+       projOffset.setCol1(matrixBA.getCol2() * offsetAB.getX() - matrixBA.getCol0() * offsetAB.getZ());
+       projOffset.setCol2(matrixBA.getCol0() * offsetAB.getY() - matrixBA.getCol1() * offsetAB.getX());
+
+       projAhalf.setCol0(absMatrixBA.getCol1() * boxA.mHalf.getZ() + absMatrixBA.getCol2() * boxA.mHalf.getY());
+       projAhalf.setCol1(absMatrixBA.getCol2() * boxA.mHalf.getX() + absMatrixBA.getCol0() * boxA.mHalf.getZ());
+       projAhalf.setCol2(absMatrixBA.getCol0() * boxA.mHalf.getY() + absMatrixBA.getCol1() * boxA.mHalf.getX());
+
+       projBhalf.setCol0(absMatrixAB.getCol1() * boxB.mHalf.getZ() + absMatrixAB.getCol2() * boxB.mHalf.getY());
+       projBhalf.setCol1(absMatrixAB.getCol2() * boxB.mHalf.getX() + absMatrixAB.getCol0() * boxB.mHalf.getZ());
+       projBhalf.setCol2(absMatrixAB.getCol0() * boxB.mHalf.getY() + absMatrixAB.getCol1() * boxB.mHalf.getX());
+
+       vmMatrix3 gapsAxB = absPerElem(projOffset) - projAhalf - transpose(projBhalf);
+
+       CrossAxisTest(0,0,X);
+       CrossAxisTest(0,1,Y);
+       CrossAxisTest(0,2,Z);
+       CrossAxisTest(1,0,X);
+       CrossAxisTest(1,1,Y);
+       CrossAxisTest(1,2,Z);
+       CrossAxisTest(2,0,X);
+       CrossAxisTest(2,1,Y);
+       CrossAxisTest(2,2,Z);
+
+       // need to pick the face on each box whose normal best matches the separating axis.
+       // will transform vectors to be in the coordinate system of this face to simplify things later.
+       // for this, a permutation matrix can be used, which the next section computes.
+
+       int dimA[3], dimB[3];
+
+       if ( axisType == A_AXIS ) {
+               if ( dot(axisA,offsetAB) < 0.0f )
+                       axisA = -axisA;
+               axisB = matrixBA * -axisA;
+
+               vmVector3 absAxisB = vmVector3(absPerElem(axisB));
+
+               if ( ( absAxisB[0] > absAxisB[1] ) && ( absAxisB[0] > absAxisB[2] ) )
+                       faceDimB = 0;
+               else if ( absAxisB[1] > absAxisB[2] )
+                       faceDimB = 1;
+               else
+                       faceDimB = 2;
+       } else if ( axisType == B_AXIS ) {
+               if ( dot(axisB,offsetBA) < 0.0f )
+                       axisB = -axisB;
+               axisA = matrixAB * -axisB;
+
+               vmVector3 absAxisA = vmVector3(absPerElem(axisA));
+
+               if ( ( absAxisA[0] > absAxisA[1] ) && ( absAxisA[0] > absAxisA[2] ) )
+                       faceDimA = 0;
+               else if ( absAxisA[1] > absAxisA[2] )
+                       faceDimA = 1;
+               else
+                       faceDimA = 2;
+       }
+
+       if ( axisType == CROSS_AXIS ) {
+               if ( dot(axisA,offsetAB) < 0.0f )
+                       axisA = -axisA;
+               axisB = matrixBA * -axisA;
+
+               vmVector3 absAxisA = vmVector3(absPerElem(axisA));
+               vmVector3 absAxisB = vmVector3(absPerElem(axisB));
+
+               dimA[1] = edgeDimA;
+               dimB[1] = edgeDimB;
+
+               if ( edgeDimA == 0 ) {
+                       if ( absAxisA[1] > absAxisA[2] ) {
+                               dimA[0] = 2;
+                               dimA[2] = 1;
+                       } else                             {
+                               dimA[0] = 1;
+                               dimA[2] = 2;
+                       }
+               } else if ( edgeDimA == 1 ) {
+                       if ( absAxisA[2] > absAxisA[0] ) {
+                               dimA[0] = 0;
+                               dimA[2] = 2;
+                       } else                             {
+                               dimA[0] = 2;
+                               dimA[2] = 0;
+                       }
+               } else {
+                       if ( absAxisA[0] > absAxisA[1] ) {
+                               dimA[0] = 1;
+                               dimA[2] = 0;
+                       } else                             {
+                               dimA[0] = 0;
+                               dimA[2] = 1;
+                       }
+               }
+
+               if ( edgeDimB == 0 ) {
+                       if ( absAxisB[1] > absAxisB[2] ) {
+                               dimB[0] = 2;
+                               dimB[2] = 1;
+                       } else                             {
+                               dimB[0] = 1;
+                               dimB[2] = 2;
+                       }
+               } else if ( edgeDimB == 1 ) {
+                       if ( absAxisB[2] > absAxisB[0] ) {
+                               dimB[0] = 0;
+                               dimB[2] = 2;
+                       } else                             {
+                               dimB[0] = 2;
+                               dimB[2] = 0;
+                       }
+               } else {
+                       if ( absAxisB[0] > absAxisB[1] ) {
+                               dimB[0] = 1;
+                               dimB[2] = 0;
+                       } else                             {
+                               dimB[0] = 0;
+                               dimB[2] = 1;
+                       }
+               }
+       } else {
+               dimA[2] = faceDimA;
+               dimA[0] = (faceDimA+1)%3;
+               dimA[1] = (faceDimA+2)%3;
+               dimB[2] = faceDimB;
+               dimB[0] = (faceDimB+1)%3;
+               dimB[1] = (faceDimB+2)%3;
+       }
+
+       vmMatrix3 aperm_col, bperm_col;
+
+       aperm_col.setCol0(ident[dimA[0]]);
+       aperm_col.setCol1(ident[dimA[1]]);
+       aperm_col.setCol2(ident[dimA[2]]);
+
+       bperm_col.setCol0(ident[dimB[0]]);
+       bperm_col.setCol1(ident[dimB[1]]);
+       bperm_col.setCol2(ident[dimB[2]]);
+
+       vmMatrix3 aperm_row, bperm_row;
+
+       aperm_row = transpose(aperm_col);
+       bperm_row = transpose(bperm_col);
+
+       // permute all box parameters to be in the face coordinate systems
+
+       vmMatrix3 matrixAB_perm = aperm_row * matrixAB * bperm_col;
+       vmMatrix3 matrixBA_perm = transpose(matrixAB_perm);
+
+       vmVector3 offsetAB_perm, offsetBA_perm;
+
+       offsetAB_perm = aperm_row * offsetAB;
+       offsetBA_perm = bperm_row * offsetBA;
+
+       vmVector3 halfA_perm, halfB_perm;
+
+       halfA_perm = aperm_row * boxA.mHalf;
+       halfB_perm = bperm_row * boxB.mHalf;
+
+       // compute the vector between the centers of each face, in each face's coordinate frame
+
+       vmVector3 signsA_perm, signsB_perm, scalesA_perm, scalesB_perm, faceOffsetAB_perm, faceOffsetBA_perm;
+
+       signsA_perm = copySignPerElem(vmVector3(1.0f),aperm_row * axisA);
+       signsB_perm = copySignPerElem(vmVector3(1.0f),bperm_row * axisB);
+       scalesA_perm = mulPerElem( signsA_perm, halfA_perm );
+       scalesB_perm = mulPerElem( signsB_perm, halfB_perm );
+
+       faceOffsetAB_perm = offsetAB_perm + matrixAB_perm.getCol2() * scalesB_perm.getZ();
+       faceOffsetAB_perm.setZ( faceOffsetAB_perm.getZ() - scalesA_perm.getZ() );
+
+       faceOffsetBA_perm = offsetBA_perm + matrixBA_perm.getCol2() * scalesA_perm.getZ();
+       faceOffsetBA_perm.setZ( faceOffsetBA_perm.getZ() - scalesB_perm.getZ() );
+
+       if ( maxGap < 0.0f ) {
+               // if boxes overlap, this will separate the faces for finding points of penetration.
+
+               faceOffsetAB_perm -= aperm_row * axisA * maxGap * 1.01f;
+               faceOffsetBA_perm -= bperm_row * axisB * maxGap * 1.01f;
+       }
+
+       // for each vertex/face or edge/edge pair of the two faces, find the closest points.
+       //
+       // these points each have an associated box feature (vertex, edge, or face).  if each
+       // point is in the external Voronoi region of the other's feature, they are the
+       // closest points of the boxes, and the algorithm can exit.
+       //
+       // the feature pairs are arranged so that in the general case, the first test will
+       // succeed.  degenerate cases (parallel faces) may require up to all tests in the
+       // worst case.
+       //
+       // if for some reason no case passes the Voronoi test, the features with the minimum
+       // distance are returned.
+
+       vmPoint3 localPointA_perm, localPointB_perm;
+       float minDistSqr;
+       bool done;
+
+       vmVector3 hA_perm( halfA_perm ), hB_perm( halfB_perm );
+
+       localPointA_perm.setZ( scalesA_perm.getZ() );
+       localPointB_perm.setZ( scalesB_perm.getZ() );
+       scalesA_perm.setZ(0.0f);
+       scalesB_perm.setZ(0.0f);
+
+       int otherFaceDimA, otherFaceDimB;
+       FeatureType featureA, featureB;
+
+       if ( axisType == CROSS_AXIS ) {
+               EdgeEdgeTests( done, minDistSqr, localPointA_perm, localPointB_perm,
+                                          otherFaceDimA, otherFaceDimB, featureA, featureB,
+                                          hA_perm, hB_perm, faceOffsetAB_perm, faceOffsetBA_perm,
+                                          matrixAB_perm, matrixBA_perm, signsA_perm, signsB_perm,
+                                          scalesA_perm, scalesB_perm, true );
+
+               if ( !done ) {
+                       VertexBFaceATests( done, minDistSqr, localPointA_perm, localPointB_perm,
+                                                          featureA, featureB,
+                                                          hA_perm, faceOffsetAB_perm, faceOffsetBA_perm,
+                                                          matrixAB_perm, matrixBA_perm, signsB_perm, scalesB_perm, false );
+
+                       if ( !done ) {
+                               VertexAFaceBTests( done, minDistSqr, localPointA_perm, localPointB_perm,
+                                                                  featureA, featureB,
+                                                                  hB_perm, faceOffsetAB_perm, faceOffsetBA_perm,
+                                                                  matrixAB_perm, matrixBA_perm, signsA_perm, scalesA_perm, false );
+                       }
+               }
+       } else if ( axisType == B_AXIS ) {
+               VertexAFaceBTests( done, minDistSqr, localPointA_perm, localPointB_perm,
+                                                  featureA, featureB,
+                                                  hB_perm, faceOffsetAB_perm, faceOffsetBA_perm,
+                                                  matrixAB_perm, matrixBA_perm, signsA_perm, scalesA_perm, true );
+
+               if ( !done ) {
+                       VertexBFaceATests( done, minDistSqr, localPointA_perm, localPointB_perm,
+                                                          featureA, featureB,
+                                                          hA_perm, faceOffsetAB_perm, faceOffsetBA_perm,
+                                                          matrixAB_perm, matrixBA_perm, signsB_perm, scalesB_perm, false );
+
+                       if ( !done ) {
+                               EdgeEdgeTests( done, minDistSqr, localPointA_perm, localPointB_perm,
+                                                          otherFaceDimA, otherFaceDimB, featureA, featureB,
+                                                          hA_perm, hB_perm, faceOffsetAB_perm, faceOffsetBA_perm,
+                                                          matrixAB_perm, matrixBA_perm, signsA_perm, signsB_perm,
+                                                          scalesA_perm, scalesB_perm, false );
+                       }
+               }
+       } else {
+               VertexBFaceATests( done, minDistSqr, localPointA_perm, localPointB_perm,
+                                                  featureA, featureB,
+                                                  hA_perm, faceOffsetAB_perm, faceOffsetBA_perm,
+                                                  matrixAB_perm, matrixBA_perm, signsB_perm, scalesB_perm, true );
+
+               if ( !done ) {
+                       VertexAFaceBTests( done, minDistSqr, localPointA_perm, localPointB_perm,
+                                                          featureA, featureB,
+                                                          hB_perm, faceOffsetAB_perm, faceOffsetBA_perm,
+                                                          matrixAB_perm, matrixBA_perm, signsA_perm, scalesA_perm, false );
+
+                       if ( !done ) {
+                               EdgeEdgeTests( done, minDistSqr, localPointA_perm, localPointB_perm,
+                                                          otherFaceDimA, otherFaceDimB, featureA, featureB,
+                                                          hA_perm, hB_perm, faceOffsetAB_perm, faceOffsetBA_perm,
+                                                          matrixAB_perm, matrixBA_perm, signsA_perm, signsB_perm,
+                                                          scalesA_perm, scalesB_perm, false );
+                       }
+               }
+       }
+
+       // convert local points from face-local to box-local coordinate system
+
+       
+       boxPointA.localPoint = vmPoint3( aperm_col * vmVector3( localPointA_perm )) ;
+       boxPointB.localPoint = vmPoint3( bperm_col * vmVector3( localPointB_perm )) ;
+
+#if 0
+       // find which features of the boxes are involved.
+       // the only feature pairs which occur in this function are VF, FV, and EE, even though the
+       // closest points might actually lie on sub-features, as in a VF contact might be used for
+       // what's actually a VV contact.  this means some feature pairs could possibly seem distinct
+       // from others, although their contact positions are the same.  don't know yet whether this
+       // matters.
+
+       int sA[3], sB[3];
+
+       sA[0] = boxPointA.localPoint.getX() > 0.0f;
+       sA[1] = boxPointA.localPoint.getY() > 0.0f;
+       sA[2] = boxPointA.localPoint.getZ() > 0.0f;
+
+       sB[0] = boxPointB.localPoint.getX() > 0.0f;
+       sB[1] = boxPointB.localPoint.getY() > 0.0f;
+       sB[2] = boxPointB.localPoint.getZ() > 0.0f;
+
+       if ( featureA == F ) {
+               boxPointA.setFaceFeature( dimA[2], sA[dimA[2]] );
+       } else if ( featureA == E ) {
+               boxPointA.setEdgeFeature( dimA[2], sA[dimA[2]], dimA[otherFaceDimA], sA[dimA[otherFaceDimA]] );
+       } else {
+               boxPointA.setVertexFeature( sA[0], sA[1], sA[2] );
+       }
+
+       if ( featureB == F ) {
+               boxPointB.setFaceFeature( dimB[2], sB[dimB[2]] );
+       } else if ( featureB == E ) {
+               boxPointB.setEdgeFeature( dimB[2], sB[dimB[2]], dimB[otherFaceDimB], sB[dimB[otherFaceDimB]] );
+       } else {
+               boxPointB.setVertexFeature( sB[0], sB[1], sB[2] );
+       }
+#endif
+
+       normal = transformA * axisA;
+
+       if ( maxGap < 0.0f ) {
+               return (maxGap);
+       } else {
+               return (sqrtf( minDistSqr ));
+       }
+}

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.h
new file mode 100644 (file)
index 0000000..0d4957d
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.h
@@ -0,0 +1,65 @@
+/*
+   Copyright (C) 2006, 2008 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+*/
+
+
+#ifndef __BOXBOXDISTANCE_H__
+#define __BOXBOXDISTANCE_H__
+
+
+#include "Box.h"
+
+
+//---------------------------------------------------------------------------
+// boxBoxDistance:
+//
+// description:
+//    this computes info that can be used for the collision response of two boxes.  when the boxes
+//    do not overlap, the points are set to the closest points of the boxes, and a positive
+//    distance between them is returned.  if the boxes do overlap, a negative distance is returned
+//    and the points are set to two points that would touch after the boxes are translated apart.
+//    the contact normal gives the direction to repel or separate the boxes when they touch or
+//    overlap (it's being approximated here as one of the 15 "separating axis" directions).
+//
+// returns:
+//    positive or negative distance between two boxes.
+//
+// args:
+//    vmVector3& normal: set to a unit contact normal pointing from box A to box B.
+//
+//    BoxPoint& boxPointA, BoxPoint& boxPointB:
+//       set to a closest point or point of penetration on each box.
+//
+//    Box boxA, Box boxB:
+//       boxes, represented as 3 half-widths
+//
+//    const vmTransform3& transformA, const vmTransform3& transformB:
+//       box transformations, in world coordinates
+//
+//    float distanceThreshold:
+//       the algorithm will exit early if it finds that the boxes are more distant than this
+//       threshold, and not compute a contact normal or points.  if this distance returned
+//       exceeds the threshold, all the other output data may not have been computed.  by
+//       default, this is set to MAX_FLOAT so it will have no effect.
+//
+//---------------------------------------------------------------------------
+
+float
+boxBoxDistance(vmVector3& normal, BoxPoint& boxPointA, BoxPoint& boxPointB,
+                          PE_REF(Box) boxA, const vmTransform3 & transformA, PE_REF(Box) boxB,
+                          const vmTransform3 & transformB,
+                          float distanceThreshold = FLT_MAX );
+
+#endif /* __BOXBOXDISTANCE_H__ */

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/readme.txt b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/readme.txt
new file mode 100644 (file)
index 0000000..5b4a907
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/readme.txt
@@ -0,0 +1 @@
+Empty placeholder for future Libspe2 SPU task

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.cpp b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.cpp
new file mode 100644 (file)
index 0000000..fe61955
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.cpp
@@ -0,0 +1,214 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, Copyright (c) 2007 Erwin Coumans
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+*/
+
+
+#include "SpuSampleTask.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "../PlatformDefinitions.h"
+#include "../SpuFakeDma.h"
+#include "LinearMath/btMinMax.h"
+
+#ifdef __SPU__
+#include <spu_printf.h>
+#else
+#include <stdio.h>
+#define spu_printf printf
+#endif
+
+#define MAX_NUM_BODIES 8192
+
+struct SampleTask_LocalStoreMemory
+{
+       ATTRIBUTE_ALIGNED16(char gLocalRigidBody [sizeof(btRigidBody)+16]);
+       ATTRIBUTE_ALIGNED16(void* gPointerArray[MAX_NUM_BODIES]);
+
+};
+
+
+
+
+//-- MAIN METHOD
+void processSampleTask(void* userPtr, void* lsMemory)
+{
+       //      BT_PROFILE("processSampleTask");
+
+       SampleTask_LocalStoreMemory* localMemory = (SampleTask_LocalStoreMemory*)lsMemory;
+
+       SpuSampleTaskDesc* taskDescPtr = (SpuSampleTaskDesc*)userPtr;
+       SpuSampleTaskDesc& taskDesc = *taskDescPtr;
+
+       switch (taskDesc.m_sampleCommand)
+       {
+       case CMD_SAMPLE_INTEGRATE_BODIES:
+               {
+                       btTransform predictedTrans;
+                       btCollisionObject** eaPtr = (btCollisionObject**)taskDesc.m_mainMemoryPtr;
+
+                       int batchSize = taskDesc.m_sampleValue;
+                       if (batchSize>MAX_NUM_BODIES)
+                       {
+                               spu_printf("SPU Error: exceed number of bodies, see MAX_NUM_BODIES in SpuSampleTask.cpp\n");
+                               break;
+                       }
+                       int dmaArraySize = batchSize*sizeof(void*);
+
+                       uint64_t ppuArrayAddress = reinterpret_cast<uint64_t>(eaPtr);
+
+                       //                      spu_printf("array location is at %llx, batchSize = %d, DMA size = %d\n",ppuArrayAddress,batchSize,dmaArraySize);
+
+                       if (dmaArraySize>=16)
+                       {
+                               cellDmaLargeGet((void*)&localMemory->gPointerArray[0], ppuArrayAddress  , dmaArraySize, DMA_TAG(1), 0, 0);      
+                               cellDmaWaitTagStatusAll(DMA_MASK(1));
+                       } else
+                       {
+                               stallingUnalignedDmaSmallGet((void*)&localMemory->gPointerArray[0], ppuArrayAddress  , dmaArraySize);
+                       }
+
+
+                       for ( int i=0;i<batchSize;i++)
+                       {
+                               ///DMA rigid body
+
+                               void* localPtr = &localMemory->gLocalRigidBody[0];
+                               void* shortAdd = localMemory->gPointerArray[i];
+                               uint64_t ppuRigidBodyAddress = reinterpret_cast<uint64_t>(shortAdd);
+
+                               //      spu_printf("cellDmaGet at CMD_SAMPLE_INTEGRATE_BODIES from %llx to %llx\n",ppuRigidBodyAddress,localPtr);
+
+                               int dmaBodySize = sizeof(btRigidBody);
+
+                               cellDmaGet((void*)localPtr, ppuRigidBodyAddress  , dmaBodySize, DMA_TAG(1), 0, 0);      
+                               cellDmaWaitTagStatusAll(DMA_MASK(1));
+
+
+                               float timeStep = 1.f/60.f;
+
+                               btRigidBody* body = (btRigidBody*) localPtr;//btRigidBody::upcast(colObj);
+                               if (body)
+                               {
+                                       if (body->isActive() && (!body->isStaticOrKinematicObject()))
+                                       {
+                                               body->predictIntegratedTransform(timeStep, predictedTrans);
+                                               body->proceedToTransform( predictedTrans);
+                                               void* ptr = (void*)localPtr;
+                                               //      spu_printf("cellDmaLargePut from %llx to LS %llx\n",ptr,ppuRigidBodyAddress);
+
+                                               cellDmaLargePut(ptr, ppuRigidBodyAddress  , dmaBodySize, DMA_TAG(1), 0, 0);
+                                               cellDmaWaitTagStatusAll(DMA_MASK(1));
+
+                                       }
+                               }
+
+                       }
+                       break;
+               }
+
+
+       case CMD_SAMPLE_PREDICT_MOTION_BODIES:
+               {
+                       btTransform predictedTrans;
+                       btCollisionObject** eaPtr = (btCollisionObject**)taskDesc.m_mainMemoryPtr;
+
+                       int batchSize = taskDesc.m_sampleValue;
+                       int dmaArraySize = batchSize*sizeof(void*);
+
+                       if (batchSize>MAX_NUM_BODIES)
+                       {
+                               spu_printf("SPU Error: exceed number of bodies, see MAX_NUM_BODIES in SpuSampleTask.cpp\n");
+                               break;
+                       }
+
+                       uint64_t ppuArrayAddress = reinterpret_cast<uint64_t>(eaPtr);
+
+                       //                      spu_printf("array location is at %llx, batchSize = %d, DMA size = %d\n",ppuArrayAddress,batchSize,dmaArraySize);
+
+                       if (dmaArraySize>=16)
+                       {
+                               cellDmaLargeGet((void*)&localMemory->gPointerArray[0], ppuArrayAddress  , dmaArraySize, DMA_TAG(1), 0, 0);      
+                               cellDmaWaitTagStatusAll(DMA_MASK(1));
+                       } else
+                       {
+                               stallingUnalignedDmaSmallGet((void*)&localMemory->gPointerArray[0], ppuArrayAddress  , dmaArraySize);
+                       }
+
+
+                       for ( int i=0;i<batchSize;i++)
+                       {
+                               ///DMA rigid body
+
+                               void* localPtr = &localMemory->gLocalRigidBody[0];
+                               void* shortAdd = localMemory->gPointerArray[i];
+                               uint64_t ppuRigidBodyAddress = reinterpret_cast<uint64_t>(shortAdd);
+
+                               //      spu_printf("cellDmaGet at CMD_SAMPLE_INTEGRATE_BODIES from %llx to %llx\n",ppuRigidBodyAddress,localPtr);
+
+                               int dmaBodySize = sizeof(btRigidBody);
+
+                               cellDmaGet((void*)localPtr, ppuRigidBodyAddress  , dmaBodySize, DMA_TAG(1), 0, 0);      
+                               cellDmaWaitTagStatusAll(DMA_MASK(1));
+
+
+                               float timeStep = 1.f/60.f;
+
+                               btRigidBody* body = (btRigidBody*) localPtr;//btRigidBody::upcast(colObj);
+                               if (body)
+                               {
+                                       if (!body->isStaticOrKinematicObject())
+                                       {
+                                               if (body->isActive())
+                                               {
+                                                       body->integrateVelocities( timeStep);
+                                                       //damping
+                                                       body->applyDamping(timeStep);
+
+                                                       body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
+
+                                                       void* ptr = (void*)localPtr;
+                                                       cellDmaLargePut(ptr, ppuRigidBodyAddress  , dmaBodySize, DMA_TAG(1), 0, 0);
+                                                       cellDmaWaitTagStatusAll(DMA_MASK(1));
+                                               }
+                                       }
+                               }
+
+                       }
+                       break;
+               }
+       
+
+
+       default:
+               {
+
+               }
+       };
+}
+
+
+#if defined(__CELLOS_LV2__) || defined (LIBSPE2)
+
+ATTRIBUTE_ALIGNED16(SampleTask_LocalStoreMemory        gLocalStoreMemory);
+
+void* createSampleLocalStoreMemory()
+{
+       return &gLocalStoreMemory;
+}
+#else
+void* createSampleLocalStoreMemory()
+{
+       return new SampleTask_LocalStoreMemory;
+};
+
+#endif

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.h
new file mode 100644 (file)
index 0000000..c8ebdfd
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.h
@@ -0,0 +1,54 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, Copyright (c) 2007 Erwin Coumans
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+*/
+
+#ifndef SPU_SAMPLE_TASK_H
+#define SPU_SAMPLE_TASK_H
+
+#include "../PlatformDefinitions.h"
+#include "LinearMath/btScalar.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btMatrix3x3.h"
+
+#include "LinearMath/btAlignedAllocator.h"
+
+
+enum
+{
+       CMD_SAMPLE_INTEGRATE_BODIES = 1,
+       CMD_SAMPLE_PREDICT_MOTION_BODIES
+};
+
+
+
+ATTRIBUTE_ALIGNED16(struct) SpuSampleTaskDesc
+{
+       BT_DECLARE_ALIGNED_ALLOCATOR();
+
+       uint32_t                                                m_sampleCommand;
+       uint32_t                                                m_taskId;
+
+       uint64_t        m_mainMemoryPtr;
+       int                     m_sampleValue;
+       
+
+};
+
+
+void   processSampleTask(void* userPtr, void* lsMemory);
+void*  createSampleLocalStoreMemory();
+
+
+#endif //SPU_SAMPLE_TASK_H
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuSampleTask/readme.txt b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuSampleTask/readme.txt
new file mode 100644 (file)
index 0000000..5b4a907
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuSampleTask/readme.txt
@@ -0,0 +1 @@
+Empty placeholder for future Libspe2 SPU task

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuSampleTaskProcess.cpp b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuSampleTaskProcess.cpp
new file mode 100644 (file)
index 0000000..11cb9e7
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuSampleTaskProcess.cpp
@@ -0,0 +1,222 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+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.
+*/
+
+//#define __CELLOS_LV2__ 1
+
+#define USE_SAMPLE_PROCESS 1
+#ifdef USE_SAMPLE_PROCESS
+
+
+#include "SpuSampleTaskProcess.h"
+#include <stdio.h>
+
+#ifdef __SPU__
+
+
+
+void   SampleThreadFunc(void* userPtr,void* lsMemory)
+{
+       //do nothing
+       printf("hello world\n");
+}
+
+
+void*  SamplelsMemoryFunc()
+{
+       //don't create local store memory, just return 0
+       return 0;
+}
+
+
+#else
+
+
+#include "btThreadSupportInterface.h"
+
+//#    include "SPUAssert.h"
+#include <string.h>
+
+
+
+extern "C" {
+       extern char SPU_SAMPLE_ELF_SYMBOL[];
+}
+
+
+
+
+
+SpuSampleTaskProcess::SpuSampleTaskProcess(btThreadSupportInterface*   threadInterface,  int maxNumOutstandingTasks)
+:m_threadInterface(threadInterface),
+m_maxNumOutstandingTasks(maxNumOutstandingTasks)
+{
+
+       m_taskBusy.resize(m_maxNumOutstandingTasks);
+       m_spuSampleTaskDesc.resize(m_maxNumOutstandingTasks);
+
+       for (int i = 0; i < m_maxNumOutstandingTasks; i++)
+       {
+               m_taskBusy[i] = false;
+       }
+       m_numBusyTasks = 0;
+       m_currentTask = 0;
+
+       m_initialized = false;
+
+       m_threadInterface->startSPU();
+
+
+}
+
+SpuSampleTaskProcess::~SpuSampleTaskProcess()
+{
+       m_threadInterface->stopSPU();
+       
+}
+
+
+
+void   SpuSampleTaskProcess::initialize()
+{
+#ifdef DEBUG_SPU_TASK_SCHEDULING
+       printf("SpuSampleTaskProcess::initialize()\n");
+#endif //DEBUG_SPU_TASK_SCHEDULING
+       
+       for (int i = 0; i < m_maxNumOutstandingTasks; i++)
+       {
+               m_taskBusy[i] = false;
+       }
+       m_numBusyTasks = 0;
+       m_currentTask = 0;
+       m_initialized = true;
+
+}
+
+
+void SpuSampleTaskProcess::issueTask(void* sampleMainMemPtr,int sampleValue,int sampleCommand)
+{
+
+#ifdef DEBUG_SPU_TASK_SCHEDULING
+       printf("SpuSampleTaskProcess::issueTask (m_currentTask= %d\)n", m_currentTask);
+#endif //DEBUG_SPU_TASK_SCHEDULING
+
+       m_taskBusy[m_currentTask] = true;
+       m_numBusyTasks++;
+
+       SpuSampleTaskDesc& taskDesc = m_spuSampleTaskDesc[m_currentTask];
+       {
+               // send task description in event message
+               // no error checking here...
+               // but, currently, event queue can be no larger than NUM_WORKUNIT_TASKS.
+       
+               taskDesc.m_mainMemoryPtr = reinterpret_cast<uint64_t>(sampleMainMemPtr);
+               taskDesc.m_sampleValue = sampleValue;
+               taskDesc.m_sampleCommand = sampleCommand;
+
+               //some bookkeeping to recognize finished tasks
+               taskDesc.m_taskId = m_currentTask;
+       }
+
+
+       m_threadInterface->sendRequest(1, (ppu_address_t) &taskDesc, m_currentTask);
+
+       // if all tasks busy, wait for spu event to clear the task.
+       
+       if (m_numBusyTasks >= m_maxNumOutstandingTasks)
+       {
+               unsigned int taskId;
+               unsigned int outputSize;
+
+               for (int i=0;i<m_maxNumOutstandingTasks;i++)
+         {
+                 if (m_taskBusy[i])
+                 {
+                         taskId = i;
+                         break;
+                 }
+         }
+               m_threadInterface->waitForResponse(&taskId, &outputSize);
+
+               //printf("PPU: after issue, received event: %u %d\n", taskId, outputSize);
+
+               postProcess(taskId, outputSize);
+
+               m_taskBusy[taskId] = false;
+
+               m_numBusyTasks--;
+       }
+
+       // find new task buffer
+       for (int i = 0; i < m_maxNumOutstandingTasks; i++)
+       {
+               if (!m_taskBusy[i])
+               {
+                       m_currentTask = i;
+                       break;
+               }
+       }
+}
+
+
+///Optional PPU-size post processing for each task
+void SpuSampleTaskProcess::postProcess(int taskId, int outputSize)
+{
+
+}
+
+
+void SpuSampleTaskProcess::flush()
+{
+#ifdef DEBUG_SPU_TASK_SCHEDULING
+       printf("\nSpuCollisionTaskProcess::flush()\n");
+#endif //DEBUG_SPU_TASK_SCHEDULING
+       
+
+       // all tasks are issued, wait for all tasks to be complete
+       while(m_numBusyTasks > 0)
+       {
+// Consolidating SPU code
+         unsigned int taskId;
+         unsigned int outputSize;
+         
+         for (int i=0;i<m_maxNumOutstandingTasks;i++)
+         {
+                 if (m_taskBusy[i])
+                 {
+                         taskId = i;
+                         break;
+                 }
+         }
+         {
+                       
+                 m_threadInterface->waitForResponse(&taskId, &outputSize);
+         }
+
+               //printf("PPU: flushing, received event: %u %d\n", taskId, outputSize);
+
+               postProcess(taskId, outputSize);
+
+               m_taskBusy[taskId] = false;
+
+               m_numBusyTasks--;
+       }
+
+
+}
+
+#endif
+
+
+#endif //USE_SAMPLE_PROCESS

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuSampleTaskProcess.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuSampleTaskProcess.h
new file mode 100644 (file)
index 0000000..6173225
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuSampleTaskProcess.h
@@ -0,0 +1,153 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_SPU_SAMPLE_TASK_PROCESS_H
+#define BT_SPU_SAMPLE_TASK_PROCESS_H
+
+#include <assert.h>
+
+
+#include "PlatformDefinitions.h"
+
+#include <stdlib.h>
+
+#include "LinearMath/btAlignedObjectArray.h"
+
+
+#include "SpuSampleTask/SpuSampleTask.h"
+
+
+//just add your commands here, try to keep them globally unique for debugging purposes
+#define CMD_SAMPLE_TASK_COMMAND 10
+
+
+
+/// SpuSampleTaskProcess handles SPU processing of collision pairs.
+/// When PPU issues a task, it will look for completed task buffers
+/// PPU will do postprocessing, dependent on workunit output (not likely)
+class SpuSampleTaskProcess
+{
+       // track task buffers that are being used, and total busy tasks
+       btAlignedObjectArray<bool>      m_taskBusy;
+       btAlignedObjectArray<SpuSampleTaskDesc>m_spuSampleTaskDesc;
+       
+       int   m_numBusyTasks;
+
+       // the current task and the current entry to insert a new work unit
+       int   m_currentTask;
+
+       bool m_initialized;
+
+       void postProcess(int taskId, int outputSize);
+       
+       class   btThreadSupportInterface*       m_threadInterface;
+
+       int     m_maxNumOutstandingTasks;
+
+
+
+public:
+       SpuSampleTaskProcess(btThreadSupportInterface*  threadInterface, int maxNumOutstandingTasks);
+       
+       ~SpuSampleTaskProcess();
+       
+       ///call initialize in the beginning of the frame, before addCollisionPairToTask
+       void initialize();
+
+       void issueTask(void* sampleMainMemPtr,int sampleValue,int sampleCommand);
+
+       ///call flush to submit potential outstanding work to SPUs and wait for all involved SPUs to be finished
+       void flush();
+};
+
+
+#if defined(USE_LIBSPE2) && defined(__SPU__)
+////////////////////MAIN/////////////////////////////
+#include "../SpuLibspe2Support.h"
+#include <spu_intrinsics.h>
+#include <spu_mfcio.h>
+#include <SpuFakeDma.h>
+
+void * SamplelsMemoryFunc();
+void SampleThreadFunc(void* userPtr,void* lsMemory);
+
+//#define DEBUG_LIBSPE2_MAINLOOP
+
+int main(unsigned long long speid, addr64 argp, addr64 envp)
+{
+       printf("SPU is up \n");
+       
+       ATTRIBUTE_ALIGNED128(btSpuStatus status);
+       ATTRIBUTE_ALIGNED16( SpuSampleTaskDesc taskDesc ) ;
+       unsigned int received_message = Spu_Mailbox_Event_Nothing;
+        bool shutdown = false;
+
+       cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
+       cellDmaWaitTagStatusAll(DMA_MASK(3));
+
+       status.m_status = Spu_Status_Free;
+       status.m_lsMemory.p = SamplelsMemoryFunc();
+
+       cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
+       cellDmaWaitTagStatusAll(DMA_MASK(3));
+       
+       
+       while (!shutdown)
+       {
+               received_message = spu_read_in_mbox();
+               
+
+               
+               switch(received_message)
+               {
+               case Spu_Mailbox_Event_Shutdown:
+                       shutdown = true;
+                       break; 
+               case Spu_Mailbox_Event_Task:
+                       // refresh the status
+#ifdef DEBUG_LIBSPE2_MAINLOOP
+                       printf("SPU recieved Task \n");
+#endif //DEBUG_LIBSPE2_MAINLOOP
+                       cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
+                       cellDmaWaitTagStatusAll(DMA_MASK(3));
+               
+                       btAssert(status.m_status==Spu_Status_Occupied);
+                       
+                       cellDmaGet(&taskDesc, status.m_taskDesc.p, sizeof(SpuSampleTaskDesc), DMA_TAG(3), 0, 0);
+                       cellDmaWaitTagStatusAll(DMA_MASK(3));
+                       
+                       SampleThreadFunc((void*)&taskDesc, reinterpret_cast<void*> (taskDesc.m_mainMemoryPtr) );
+                       break;
+               case Spu_Mailbox_Event_Nothing:
+               default:
+                       break;
+               }
+
+               // set to status free and wait for next task
+               status.m_status = Spu_Status_Free;
+               cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
+               cellDmaWaitTagStatusAll(DMA_MASK(3));           
+                               
+               
+       }
+       return 0;
+}
+//////////////////////////////////////////////////////
+#endif
+
+
+
+#endif // BT_SPU_SAMPLE_TASK_PROCESS_H
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuSync.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuSync.h
new file mode 100644 (file)
index 0000000..4157b8f
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/SpuSync.h
@@ -0,0 +1,149 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2007 Starbreeze 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: Marten Svanfeldt
+*/
+
+#ifndef BT_SPU_SYNC_H
+#define        BT_SPU_SYNC_H
+
+
+#include "PlatformDefinitions.h"
+
+
+#if defined(WIN32)
+
+#define WIN32_LEAN_AND_MEAN
+#ifdef _XBOX
+#include <Xtl.h>
+#else
+#include <Windows.h>
+#endif
+
+///The btSpinlock is a structure to allow multi-platform synchronization. This allows to port the SPU tasks to other platforms.
+class btSpinlock
+{
+public:
+       //typedef volatile LONG SpinVariable;
+       typedef CRITICAL_SECTION SpinVariable;
+
+       btSpinlock (SpinVariable* var)
+               : spinVariable (var)
+       {}
+
+       void Init ()
+       {
+               //*spinVariable = 0;
+               InitializeCriticalSection(spinVariable);
+       }
+
+       void Lock ()
+       {
+               EnterCriticalSection(spinVariable);
+       }
+
+       void Unlock ()
+       {
+               LeaveCriticalSection(spinVariable);
+       }
+
+private:
+       SpinVariable* spinVariable;
+};
+
+
+#elif defined (__CELLOS_LV2__)
+
+//#include <cell/atomic.h>
+#include <cell/sync/mutex.h>
+
+///The btSpinlock is a structure to allow multi-platform synchronization. This allows to port the SPU tasks to other platforms.
+class btSpinlock
+{
+public:
+       typedef CellSyncMutex SpinVariable;
+
+       btSpinlock (SpinVariable* var)
+               : spinVariable (var)
+       {}
+
+       void Init ()
+       {
+#ifndef __SPU__
+               //*spinVariable = 1;
+               cellSyncMutexInitialize(spinVariable);
+#endif
+       }
+
+
+
+       void Lock ()
+       {
+#ifdef __SPU__
+               // lock semaphore
+               /*while (cellAtomicTestAndDecr32(atomic_buf, (uint64_t)spinVariable) == 0) 
+               {
+
+               };*/
+               cellSyncMutexLock((uint64_t)spinVariable);
+#endif
+       }
+
+       void Unlock ()
+       {
+#ifdef __SPU__
+               //cellAtomicIncr32(atomic_buf, (uint64_t)spinVariable);
+               cellSyncMutexUnlock((uint64_t)spinVariable);
+#endif 
+       }
+
+
+private:
+       SpinVariable*   spinVariable;
+       ATTRIBUTE_ALIGNED128(uint32_t           atomic_buf[32]);
+};
+
+#else
+//create a dummy implementation (without any locking) useful for serial processing
+class btSpinlock
+{
+public:
+       typedef int  SpinVariable;
+
+       btSpinlock (SpinVariable* var)
+               : spinVariable (var)
+       {}
+
+       void Init ()
+       {
+       }
+
+       void Lock ()
+       {
+       }
+
+       void Unlock ()
+       {
+       }
+
+private:
+       SpinVariable* spinVariable;
+};
+
+
+#endif
+
+
+#endif //BT_SPU_SYNC_H
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/TrbDynBody.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/TrbDynBody.h
new file mode 100644 (file)
index 0000000..a7f4bf1
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/TrbDynBody.h
@@ -0,0 +1,79 @@
+/*
+   Copyright (C) 2009 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+*/
+
+#ifndef BT_RB_DYN_BODY_H__
+#define BT_RB_DYN_BODY_H__
+
+#include "vectormath/vmInclude.h"
+using namespace Vectormath::Aos;
+
+#include "TrbStateVec.h"
+
+class CollObject;
+
+class TrbDynBody
+{
+public:
+       TrbDynBody()
+       {
+               fMass   = 0.0f;
+               fCollObject = NULL;
+               fElasticity = 0.2f;
+               fFriction = 0.8f;
+       }
+
+       // Get methods
+       float          getMass() const {return fMass;};
+       float          getElasticity() const {return fElasticity;}
+       float          getFriction() const {return fFriction;}
+       CollObject*    getCollObject() const {return fCollObject;}
+       const Matrix3 &getBodyInertia() const {return fIBody;}
+       const Matrix3 &getBodyInertiaInv() const {return fIBodyInv;}
+       float          getMassInv() const {return fMassInv;}
+
+       // Set methods
+       void           setMass(float mass) {fMass=mass;fMassInv=mass>0.0f?1.0f/mass:0.0f;}
+       void           setBodyInertia(const Matrix3 bodyInertia) {fIBody = bodyInertia;fIBodyInv = inverse(bodyInertia);}
+       void           setElasticity(float elasticity) {fElasticity = elasticity;}
+       void           setFriction(float friction) {fFriction = friction;}
+       void           setCollObject(CollObject *collObj) {fCollObject = collObj;}
+       
+       void           setBodyInertiaInv(const Matrix3 bodyInertiaInv) 
+       {
+               fIBody = inverse(bodyInertiaInv);
+               fIBodyInv = bodyInertiaInv;
+       }
+       void           setMassInv(float invMass) {
+               fMass= invMass>0.0f ? 1.0f/invMass :0.0f;
+               fMassInv=invMass;
+       }
+
+
+private:
+       // Rigid Body constants
+       float          fMass;        // Rigid Body mass
+       float          fMassInv;     // Inverse of mass
+       Matrix3        fIBody;       // Inertia matrix in body's coords
+       Matrix3        fIBodyInv;    // Inertia matrix inverse in body's coords
+       float          fElasticity;  // Coefficient of restitution
+       float          fFriction;    // Coefficient of friction
+
+public:
+       CollObject*    fCollObject;  // Collision object corresponding the RB
+} __attribute__ ((aligned(16)));
+
+#endif //BT_RB_DYN_BODY_H__
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/TrbStateVec.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/TrbStateVec.h
new file mode 100644 (file)
index 0000000..b6d895e
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/TrbStateVec.h
@@ -0,0 +1,339 @@
+/*
+   Copyright (C) 2009 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+*/
+
+#ifndef BT_TRBSTATEVEC_H__
+#define BT_TRBSTATEVEC_H__
+
+#include <stdlib.h>
+#ifdef PFX_USE_FREE_VECTORMATH
+#include "vecmath/vmInclude.h"
+#else
+#include "vectormath/vmInclude.h"
+#endif //PFX_USE_FREE_VECTORMATH
+
+
+#include "PlatformDefinitions.h"
+
+
+static inline vmVector3 read_Vector3(const float* p)
+{
+       vmVector3 v;
+       loadXYZ(v, p);
+       return v;
+}
+
+static inline vmQuat read_Quat(const float* p)
+{
+       vmQuat vq;
+       loadXYZW(vq, p);
+       return vq;
+}
+
+static inline void store_Vector3(const vmVector3 &src, float* p)
+{
+       vmVector3 v = src;
+       storeXYZ(v, p);
+}
+
+static inline void store_Quat(const vmQuat &src, float* p)
+{
+       vmQuat vq = src;
+       storeXYZW(vq, p);
+}
+
+// Motion Type
+enum {
+       PfxMotionTypeFixed = 0,
+       PfxMotionTypeActive,
+       PfxMotionTypeKeyframe,
+       PfxMotionTypeOneWay,
+       PfxMotionTypeTrigger,
+       PfxMotionTypeCount
+};
+
+#define PFX_MOTION_MASK_DYNAMIC 0x0a // Active,OneWay
+#define PFX_MOTION_MASK_STATIC  0x95 // Fixed,Keyframe,Trigger,Sleeping
+#define PFX_MOTION_MASK_SLEEP   0x0e // Can sleep
+#define PFX_MOTION_MASK_TYPE    0x7f
+
+//
+// Rigid Body state
+//
+
+#ifdef __CELLOS_LV2__
+ATTRIBUTE_ALIGNED128(class) TrbState
+#else
+ATTRIBUTE_ALIGNED16(class) TrbState
+#endif
+
+{
+public:
+       TrbState()
+       {
+               setMotionType(PfxMotionTypeActive);
+               contactFilterSelf=contactFilterTarget=0xffffffff;
+               deleted = 0;
+               mSleeping = 0;
+               useSleep = 1;
+               trbBodyIdx=0;
+               mSleepCount=0;
+               useCcd = 0;
+               useContactCallback = 0;
+               useSleepCallback = 0;
+               linearDamping = 1.0f;
+               angularDamping = 0.99f;
+       }
+
+       TrbState(const uint8_t m, const vmVector3& x, const vmQuat& q, const vmVector3& v, const vmVector3& omega );
+       
+       uint16_t        mSleepCount;
+       uint8_t         mMotionType;
+       uint8_t         deleted            : 1;
+       uint8_t         mSleeping           : 1;
+       uint8_t         useSleep           : 1;
+       uint8_t         useCcd                 : 1;
+       uint8_t         useContactCallback : 1;
+       uint8_t         useSleepCallback   : 1;
+
+       uint16_t        trbBodyIdx;
+       uint32_t        contactFilterSelf;
+       uint32_t        contactFilterTarget;
+
+       float           center[3];              // AABB center(World)
+       float           half[3];                // AABB half(World)
+
+       float           linearDamping;
+       float           angularDamping;
+       
+       float           deltaLinearVelocity[3];
+       float           deltaAngularVelocity[3];
+
+       float     fX[3];                                // position
+       float     fQ[4];                                // orientation
+       float     fV[3];                                // velocity
+       float     fOmega[3];                    // angular velocity
+
+       inline void setZero();      // Zeroes out the elements
+       inline void setIdentity();  // Sets the rotation to identity and zeroes out the other elements
+
+       bool            isDeleted() const {return deleted==1;}
+
+       uint16_t        getRigidBodyId() const {return trbBodyIdx;}
+       void            setRigidBodyId(uint16_t i) {trbBodyIdx = i;}
+
+
+       uint32_t        getContactFilterSelf() const {return contactFilterSelf;}
+       void            setContactFilterSelf(uint32_t filter) {contactFilterSelf = filter;}
+
+       uint32_t        getContactFilterTarget() const {return contactFilterTarget;}
+       void            setContactFilterTarget(uint32_t filter) {contactFilterTarget = filter;}
+
+       float getLinearDamping() const {return linearDamping;}
+       float getAngularDamping() const {return angularDamping;}
+
+       void setLinearDamping(float damping) {linearDamping=damping;}
+       void setAngularDamping(float damping) {angularDamping=damping;}
+
+
+       uint8_t         getMotionType() const {return mMotionType;}
+       void            setMotionType(uint8_t t) {mMotionType = t;mSleeping=0;mSleepCount=0;}
+
+       uint8_t         getMotionMask() const {return (1<<mMotionType)|(mSleeping<<7);}
+
+       bool            isAsleep() const {return mSleeping==1;}
+       bool            isAwake() const {return mSleeping==0;}
+
+       void            wakeup() {mSleeping=0;mSleepCount=0;}
+       void            sleep() {if(useSleep) {mSleeping=1;mSleepCount=0;}}
+
+       uint8_t         getUseSleep() const {return useSleep;}
+       void            setUseSleep(uint8_t b) {useSleep=b;}
+
+       uint8_t         getUseCcd() const {return useCcd;}
+       void            setUseCcd(uint8_t b) {useCcd=b;}
+
+       uint8_t         getUseContactCallback() const {return useContactCallback;}
+       void            setUseContactCallback(uint8_t b) {useContactCallback=b;}
+
+       uint8_t         getUseSleepCallback() const {return useSleepCallback;}
+       void            setUseSleepCallback(uint8_t b) {useSleepCallback=b;}
+
+       void            incrementSleepCount() {mSleepCount++;}
+       void            resetSleepCount() {mSleepCount=0;}
+       uint16_t        getSleepCount() const {return mSleepCount;}
+
+       vmVector3 getPosition() const {return read_Vector3(fX);}
+       vmQuat    getOrientation() const {return read_Quat(fQ);}
+       vmVector3 getLinearVelocity() const {return read_Vector3(fV);}
+       vmVector3 getAngularVelocity() const {return read_Vector3(fOmega);}
+       vmVector3 getDeltaLinearVelocity() const {return read_Vector3(deltaLinearVelocity);}
+       vmVector3 getDeltaAngularVelocity() const {return read_Vector3(deltaAngularVelocity);}
+
+       void setPosition(const vmVector3 &pos) {store_Vector3(pos, fX);}
+       void setLinearVelocity(const vmVector3 &vel) {store_Vector3(vel, fV);}
+       void setAngularVelocity(const vmVector3 &vel) {store_Vector3(vel, fOmega);}
+       void setDeltaLinearVelocity(const vmVector3 &vel) {store_Vector3(vel, deltaLinearVelocity);}
+       void setDeltaAngularVelocity(const vmVector3 &vel) {store_Vector3(vel, deltaAngularVelocity);}
+       void setOrientation(const vmQuat &rot) {store_Quat(rot, fQ);}
+
+       inline void setAuxils(const vmVector3 &centerLocal,const vmVector3 &halfLocal);
+       inline void     setAuxilsCcd(const vmVector3 &centerLocal,const vmVector3 &halfLocal,float timeStep);
+       inline  void reset();
+};
+
+inline
+TrbState::TrbState(const uint8_t m, const vmVector3& x, const vmQuat& q, const vmVector3& v, const vmVector3& omega)
+{
+       setMotionType(m);
+       fX[0] = x[0];
+       fX[1] = x[1];
+       fX[2] = x[2];
+       fQ[0] = q[0];
+       fQ[1] = q[1];
+       fQ[2] = q[2];
+       fQ[3] = q[3];
+       fV[0] = v[0];
+       fV[1] = v[1];
+       fV[2] = v[2];
+       fOmega[0] = omega[0];
+       fOmega[1] = omega[1];
+       fOmega[2] = omega[2];
+       contactFilterSelf=contactFilterTarget=0xffff;
+       trbBodyIdx=0;
+       mSleeping = 0;
+       deleted = 0;
+       useSleep = 1;
+       useCcd = 0;
+       useContactCallback = 0;
+       useSleepCallback = 0;
+       mSleepCount=0;
+       linearDamping = 1.0f;
+       angularDamping = 0.99f;
+}
+
+inline void
+TrbState::setIdentity()
+{
+       fX[0] = 0.0f;
+       fX[1] = 0.0f;
+       fX[2] = 0.0f;
+       fQ[0] = 0.0f;
+       fQ[1] = 0.0f;
+       fQ[2] = 0.0f;
+       fQ[3] = 1.0f;
+       fV[0] = 0.0f;
+       fV[1] = 0.0f;
+       fV[2] = 0.0f;
+       fOmega[0] = 0.0f;
+       fOmega[1] = 0.0f;
+       fOmega[2] = 0.0f;
+}
+
+inline void
+TrbState::setZero()
+{
+       fX[0] = 0.0f;
+       fX[1] = 0.0f;
+       fX[2] = 0.0f;
+       fQ[0] = 0.0f;
+       fQ[1] = 0.0f;
+       fQ[2] = 0.0f;
+       fQ[3] = 0.0f;
+       fV[0] = 0.0f;
+       fV[1] = 0.0f;
+       fV[2] = 0.0f;
+       fOmega[0] = 0.0f;
+       fOmega[1] = 0.0f;
+       fOmega[2] = 0.0f;
+}
+
+inline void
+TrbState::setAuxils(const vmVector3 &centerLocal,const vmVector3 &halfLocal)
+{
+       vmVector3 centerW = getPosition() + rotate(getOrientation(),centerLocal);
+       vmVector3 halfW = absPerElem(vmMatrix3(getOrientation())) * halfLocal;
+       center[0] = centerW[0];
+       center[1] = centerW[1];
+       center[2] = centerW[2];
+       half[0] = halfW[0];
+       half[1] = halfW[1];
+       half[2] = halfW[2];
+}
+
+inline void
+TrbState::setAuxilsCcd(const vmVector3 &centerLocal,const vmVector3 &halfLocal,float timeStep)
+{
+       vmVector3 centerW = getPosition() + rotate(getOrientation(),centerLocal);
+       vmVector3 halfW = absPerElem(vmMatrix3(getOrientation())) * halfLocal;
+
+       vmVector3 diffvec = getLinearVelocity()*timeStep;
+
+       vmVector3 newCenter = centerW + diffvec;
+       vmVector3 aabbMin = minPerElem(newCenter - halfW,centerW - halfW);
+       vmVector3 aabbMax = maxPerElem(newCenter + halfW,centerW + halfW);
+       
+       centerW = 0.5f * (aabbMin + aabbMax);
+       halfW =0.5f * (aabbMax - aabbMin);
+
+       center[0] = centerW[0];
+       center[1] = centerW[1];
+       center[2] = centerW[2];
+
+       half[0] = halfW[0];
+       half[1] = halfW[1];
+       half[2] = halfW[2];
+}
+
+inline
+void TrbState::reset()
+{
+#if 0
+       mSleepCount = 0;
+       mMotionType = PfxMotionTypeActive;
+       mDeleted = 0;
+       mSleeping = 0;
+       mUseSleep = 1;
+       mUseCcd = 0;
+       mUseContactCallback = 0;
+       mUseSleepCallback = 0;
+       mRigidBodyId = 0;
+       mContactFilterSelf = 0xffffffff;
+       mContactFilterTarget = 0xffffffff;
+       mLinearDamping = 1.0f;
+       mAngularDamping = 0.99f;
+       mPosition = vmVector3(0.0f);
+       mOrientation = vmQuat::identity();
+       mLinearVelocity = vmVector3(0.0f);
+       mAngularVelocity = vmVector3(0.0f);
+#endif
+
+       setMotionType(PfxMotionTypeActive);
+       contactFilterSelf=contactFilterTarget=0xffffffff;
+       deleted = 0;
+       mSleeping = 0;
+       useSleep = 1;
+       trbBodyIdx=0;
+       mSleepCount=0;
+       useCcd = 0;
+       useContactCallback = 0;
+       useSleepCallback = 0;
+       linearDamping = 1.0f;
+       angularDamping = 0.99f;
+}
+
+#endif //BT_TRBSTATEVEC_H__
+
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/Win32ThreadSupport.cpp b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/Win32ThreadSupport.cpp
new file mode 100644 (file)
index 0000000..ae224b5
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/Win32ThreadSupport.cpp
@@ -0,0 +1,458 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "Win32ThreadSupport.h"
+
+#ifdef USE_WIN32_THREADING
+
+#include <windows.h>
+
+#include "SpuCollisionTaskProcess.h"
+
+#include "SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
+
+
+
+///The number of threads should be equal to the number of available cores
+///@todo: each worker should be linked to a single core, using SetThreadIdealProcessor.
+
+///Win32ThreadSupport helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
+///Setup and initialize SPU/CELL/Libspe2
+Win32ThreadSupport::Win32ThreadSupport(const Win32ThreadConstructionInfo & threadConstructionInfo)
+{
+       m_maxNumTasks = threadConstructionInfo.m_numThreads;
+       startThreads(threadConstructionInfo);
+}
+
+///cleanup/shutdown Libspe2
+Win32ThreadSupport::~Win32ThreadSupport()
+{
+       stopSPU();
+}
+
+
+
+
+#include <stdio.h>
+
+DWORD WINAPI Thread_no_1( LPVOID lpParam ) 
+{
+
+       Win32ThreadSupport::btSpuStatus* status = (Win32ThreadSupport::btSpuStatus*)lpParam;
+
+       
+       while (1)
+       {
+               WaitForSingleObject(status->m_eventStartHandle,INFINITE);
+               
+               void* userPtr = status->m_userPtr;
+
+               if (userPtr)
+               {
+                       btAssert(status->m_status);
+                       status->m_userThreadFunc(userPtr,status->m_lsMemory);
+                       status->m_status = 2;
+                       SetEvent(status->m_eventCompletetHandle);
+               } else
+               {
+                       //exit Thread
+                       status->m_status = 3;
+                       printf("Thread with taskId %i with handle %p exiting\n",status->m_taskId, status->m_threadHandle);
+                       SetEvent(status->m_eventCompletetHandle);
+                       break;
+               }
+               
+       }
+
+       printf("Thread TERMINATED\n");
+       return 0;
+
+}
+
+///send messages to SPUs
+void Win32ThreadSupport::sendRequest(uint32_t uiCommand, ppu_address_t uiArgument0, uint32_t taskId)
+{
+       ///     gMidphaseSPU.sendRequest(CMD_GATHER_AND_PROCESS_PAIRLIST, (ppu_address_t) &taskDesc);
+       
+       ///we should spawn an SPU task here, and in 'waitForResponse' it should wait for response of the (one of) the first tasks that finished
+       
+
+
+       switch (uiCommand)
+       {
+       case    CMD_GATHER_AND_PROCESS_PAIRLIST:
+               {
+
+
+//#define SINGLE_THREADED 1
+#ifdef SINGLE_THREADED
+
+                       btSpuStatus&    spuStatus = m_activeSpuStatus[0];
+                       spuStatus.m_userPtr=(void*)uiArgument0;
+                       spuStatus.m_userThreadFunc(spuStatus.m_userPtr,spuStatus.m_lsMemory);
+                       HANDLE handle =0;
+#else
+
+
+                       btSpuStatus&    spuStatus = m_activeSpuStatus[taskId];
+                       btAssert(taskId>=0);
+                       btAssert(int(taskId)<m_activeSpuStatus.size());
+
+                       spuStatus.m_commandId = uiCommand;
+                       spuStatus.m_status = 1;
+                       spuStatus.m_userPtr = (void*)uiArgument0;
+
+                       ///fire event to start new task
+                       SetEvent(spuStatus.m_eventStartHandle);
+
+#endif //CollisionTask_LocalStoreMemory
+
+                       
+
+                       break;
+               }
+       default:
+               {
+                       ///not implemented
+                       btAssert(0);
+               }
+
+       };
+
+
+}
+
+
+///check for messages from SPUs
+void Win32ThreadSupport::waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1)
+{
+       ///We should wait for (one of) the first tasks to finish (or other SPU messages), and report its response
+       
+       ///A possible response can be 'yes, SPU handled it', or 'no, please do a PPU fallback'
+
+
+       btAssert(m_activeSpuStatus.size());
+
+       int last = -1;
+#ifndef SINGLE_THREADED
+       DWORD res = WaitForMultipleObjects(m_completeHandles.size(), &m_completeHandles[0], FALSE, INFINITE);
+       btAssert(res != WAIT_FAILED);
+       last = res - WAIT_OBJECT_0;
+
+       btSpuStatus& spuStatus = m_activeSpuStatus[last];
+       btAssert(spuStatus.m_threadHandle);
+       btAssert(spuStatus.m_eventCompletetHandle);
+
+       //WaitForSingleObject(spuStatus.m_eventCompletetHandle, INFINITE);
+       btAssert(spuStatus.m_status > 1);
+       spuStatus.m_status = 0;
+
+       ///need to find an active spu
+       btAssert(last>=0);
+
+#else
+       last=0;
+       btSpuStatus& spuStatus = m_activeSpuStatus[last];
+#endif //SINGLE_THREADED
+
+       
+
+       *puiArgument0 = spuStatus.m_taskId;
+       *puiArgument1 = spuStatus.m_status;
+
+
+}
+
+
+///check for messages from SPUs
+bool Win32ThreadSupport::isTaskCompleted(unsigned int *puiArgument0, unsigned int *puiArgument1, int timeOutInMilliseconds)
+{
+       ///We should wait for (one of) the first tasks to finish (or other SPU messages), and report its response
+       
+       ///A possible response can be 'yes, SPU handled it', or 'no, please do a PPU fallback'
+
+
+       btAssert(m_activeSpuStatus.size());
+
+       int last = -1;
+#ifndef SINGLE_THREADED
+       DWORD res = WaitForMultipleObjects(m_completeHandles.size(), &m_completeHandles[0], FALSE, timeOutInMilliseconds);
+       
+       if ((res != STATUS_TIMEOUT) && (res != WAIT_FAILED))
+       {
+               
+               btAssert(res != WAIT_FAILED);
+               last = res - WAIT_OBJECT_0;
+
+               btSpuStatus& spuStatus = m_activeSpuStatus[last];
+               btAssert(spuStatus.m_threadHandle);
+               btAssert(spuStatus.m_eventCompletetHandle);
+
+               //WaitForSingleObject(spuStatus.m_eventCompletetHandle, INFINITE);
+               btAssert(spuStatus.m_status > 1);
+               spuStatus.m_status = 0;
+
+               ///need to find an active spu
+               btAssert(last>=0);
+
+       #else
+               last=0;
+               btSpuStatus& spuStatus = m_activeSpuStatus[last];
+       #endif //SINGLE_THREADED
+
+               
+
+               *puiArgument0 = spuStatus.m_taskId;
+               *puiArgument1 = spuStatus.m_status;
+
+               return true;
+       } 
+
+       return false;
+}
+
+
+void Win32ThreadSupport::startThreads(const Win32ThreadConstructionInfo& threadConstructionInfo)
+{
+
+       m_activeSpuStatus.resize(threadConstructionInfo.m_numThreads);
+       m_completeHandles.resize(threadConstructionInfo.m_numThreads);
+
+       m_maxNumTasks = threadConstructionInfo.m_numThreads;
+
+       for (int i=0;i<threadConstructionInfo.m_numThreads;i++)
+       {
+               printf("starting thread %d\n",i);
+
+               btSpuStatus&    spuStatus = m_activeSpuStatus[i];
+
+               LPSECURITY_ATTRIBUTES lpThreadAttributes=NULL;
+               SIZE_T dwStackSize=threadConstructionInfo.m_threadStackSize;
+               LPTHREAD_START_ROUTINE lpStartAddress=&Thread_no_1;
+               LPVOID lpParameter=&spuStatus;
+               DWORD dwCreationFlags=0;
+               LPDWORD lpThreadId=0;
+
+               spuStatus.m_userPtr=0;
+
+               sprintf(spuStatus.m_eventStartHandleName,"eventStart%s%d",threadConstructionInfo.m_uniqueName,i);
+               spuStatus.m_eventStartHandle = CreateEventA (0,false,false,spuStatus.m_eventStartHandleName);
+
+               sprintf(spuStatus.m_eventCompletetHandleName,"eventComplete%s%d",threadConstructionInfo.m_uniqueName,i);
+               spuStatus.m_eventCompletetHandle = CreateEventA (0,false,false,spuStatus.m_eventCompletetHandleName);
+
+               m_completeHandles[i] = spuStatus.m_eventCompletetHandle;
+
+               HANDLE handle = CreateThread(lpThreadAttributes,dwStackSize,lpStartAddress,lpParameter, dwCreationFlags,lpThreadId);
+               SetThreadPriority(handle,THREAD_PRIORITY_HIGHEST);
+               //SetThreadPriority(handle,THREAD_PRIORITY_TIME_CRITICAL);
+
+               SetThreadAffinityMask(handle, 1<<i);
+
+               spuStatus.m_taskId = i;
+               spuStatus.m_commandId = 0;
+               spuStatus.m_status = 0;
+               spuStatus.m_threadHandle = handle;
+               spuStatus.m_lsMemory = threadConstructionInfo.m_lsMemoryFunc();
+               spuStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc;
+
+               printf("started thread %d with threadHandle %p\n",i,handle);
+               
+       }
+
+}
+
+void Win32ThreadSupport::startSPU()
+{
+}
+
+
+///tell the task scheduler we are done with the SPU tasks
+void Win32ThreadSupport::stopSPU()
+{
+       int i;
+       for (i=0;i<m_activeSpuStatus.size();i++)
+       {
+               btSpuStatus& spuStatus = m_activeSpuStatus[i];
+               if (spuStatus.m_status>0)
+               {
+                       WaitForSingleObject(spuStatus.m_eventCompletetHandle, INFINITE);
+               }
+               
+
+               spuStatus.m_userPtr = 0;
+               SetEvent(spuStatus.m_eventStartHandle);
+               WaitForSingleObject(spuStatus.m_eventCompletetHandle, INFINITE);
+
+               CloseHandle(spuStatus.m_eventCompletetHandle);
+               CloseHandle(spuStatus.m_eventStartHandle);
+               CloseHandle(spuStatus.m_threadHandle);
+
+       }
+
+       m_activeSpuStatus.clear();
+       m_completeHandles.clear();
+
+}
+
+
+
+class btWin32Barrier : public btBarrier
+{
+private:
+       CRITICAL_SECTION mExternalCriticalSection;
+       CRITICAL_SECTION mLocalCriticalSection;
+       HANDLE mRunEvent,mNotifyEvent;
+       int mCounter,mEnableCounter;
+       int mMaxCount;
+
+public:
+       btWin32Barrier()
+       {
+               mCounter = 0;
+               mMaxCount = 1;
+               mEnableCounter = 0;
+               InitializeCriticalSection(&mExternalCriticalSection);
+               InitializeCriticalSection(&mLocalCriticalSection);
+               mRunEvent = CreateEvent(NULL,TRUE,FALSE,NULL);
+               mNotifyEvent = CreateEvent(NULL,TRUE,FALSE,NULL);
+       }
+
+       virtual ~btWin32Barrier()
+       {
+               DeleteCriticalSection(&mExternalCriticalSection);
+               DeleteCriticalSection(&mLocalCriticalSection);
+               CloseHandle(mRunEvent);
+               CloseHandle(mNotifyEvent);
+       }
+
+       void sync()
+       {
+               int eventId;
+
+               EnterCriticalSection(&mExternalCriticalSection);
+
+               //PFX_PRINTF("enter taskId %d count %d stage %d phase %d mEnableCounter %d\n",taskId,mCounter,debug&0xff,debug>>16,mEnableCounter);
+
+               if(mEnableCounter > 0) {
+                       ResetEvent(mNotifyEvent);
+                       LeaveCriticalSection(&mExternalCriticalSection);
+                       WaitForSingleObject(mNotifyEvent,INFINITE); 
+                       EnterCriticalSection(&mExternalCriticalSection);
+               }
+
+               eventId = mCounter;
+               mCounter++;
+
+               if(eventId == mMaxCount-1) {
+                       SetEvent(mRunEvent);
+
+                       mEnableCounter = mCounter-1;
+                       mCounter = 0;
+               }
+               else {
+                       ResetEvent(mRunEvent);
+                       LeaveCriticalSection(&mExternalCriticalSection);
+                       WaitForSingleObject(mRunEvent,INFINITE); 
+                       EnterCriticalSection(&mExternalCriticalSection);
+                       mEnableCounter--;
+               }
+
+               if(mEnableCounter == 0) {
+                       SetEvent(mNotifyEvent);
+               }
+
+               //PFX_PRINTF("leave taskId %d count %d stage %d phase %d mEnableCounter %d\n",taskId,mCounter,debug&0xff,debug>>16,mEnableCounter);
+
+               LeaveCriticalSection(&mExternalCriticalSection);
+       }
+
+       virtual void setMaxCount(int n) {mMaxCount = n;}
+       virtual int  getMaxCount() {return mMaxCount;}
+};
+
+class btWin32CriticalSection : public btCriticalSection
+{
+private:
+       CRITICAL_SECTION mCriticalSection;
+
+public:
+       btWin32CriticalSection()
+       {
+               InitializeCriticalSection(&mCriticalSection);
+       }
+
+       ~btWin32CriticalSection()
+       {
+               DeleteCriticalSection(&mCriticalSection);
+       }
+
+       unsigned int getSharedParam(int i)
+       {
+               btAssert(i>=0&&i<31);
+               return mCommonBuff[i+1];
+       }
+
+       void setSharedParam(int i,unsigned int p)
+       {
+               btAssert(i>=0&&i<31);
+               mCommonBuff[i+1] = p;
+       }
+
+       void lock()
+       {
+               EnterCriticalSection(&mCriticalSection);
+               mCommonBuff[0] = 1;
+       }
+
+       void unlock()
+       {
+               mCommonBuff[0] = 0;
+               LeaveCriticalSection(&mCriticalSection);
+       }
+};
+
+
+btBarrier*     Win32ThreadSupport::createBarrier()
+{
+       unsigned char* mem = (unsigned char*)btAlignedAlloc(sizeof(btWin32Barrier),16);
+       btWin32Barrier* barrier = new(mem) btWin32Barrier();
+       barrier->setMaxCount(getNumTasks());
+       return barrier;
+}
+
+btCriticalSection* Win32ThreadSupport::createCriticalSection()
+{
+       unsigned char* mem = (unsigned char*) btAlignedAlloc(sizeof(btWin32CriticalSection),16);
+       btWin32CriticalSection* cs = new(mem) btWin32CriticalSection();
+       return cs;
+}
+
+void Win32ThreadSupport::deleteBarrier(btBarrier* barrier)
+{
+       barrier->~btBarrier();
+       btAlignedFree(barrier);
+}
+
+void Win32ThreadSupport::deleteCriticalSection(btCriticalSection* criticalSection)
+{
+       criticalSection->~btCriticalSection();
+       btAlignedFree(criticalSection);
+}
+
+
+#endif //USE_WIN32_THREADING
+
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/Win32ThreadSupport.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/Win32ThreadSupport.h
new file mode 100644 (file)
index 0000000..f688e6c
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/Win32ThreadSupport.h
@@ -0,0 +1,141 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "LinearMath/btScalar.h"
+#include "PlatformDefinitions.h"
+
+#ifdef USE_WIN32_THREADING  //platform specific defines are defined in PlatformDefinitions.h
+
+#ifndef BT_WIN32_THREAD_SUPPORT_H
+#define BT_WIN32_THREAD_SUPPORT_H
+
+#include "LinearMath/btAlignedObjectArray.h"
+
+#include "btThreadSupportInterface.h"
+
+
+typedef void (*Win32ThreadFunc)(void* userPtr,void* lsMemory);
+typedef void* (*Win32lsMemorySetupFunc)();
+
+
+///Win32ThreadSupport helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
+class Win32ThreadSupport : public btThreadSupportInterface 
+{
+public:
+       ///placeholder, until libspe2 support is there
+       struct  btSpuStatus
+       {
+               uint32_t        m_taskId;
+               uint32_t        m_commandId;
+               uint32_t        m_status;
+
+               Win32ThreadFunc m_userThreadFunc;
+               void*   m_userPtr; //for taskDesc etc
+               void*   m_lsMemory; //initialized using Win32LocalStoreMemorySetupFunc
+
+               void*   m_threadHandle; //this one is calling 'Win32ThreadFunc'
+
+               void*   m_eventStartHandle;
+               char    m_eventStartHandleName[32];
+
+               void*   m_eventCompletetHandle;
+               char    m_eventCompletetHandleName[32];
+               
+
+       };
+private:
+
+       btAlignedObjectArray<btSpuStatus>       m_activeSpuStatus;
+       btAlignedObjectArray<void*>                     m_completeHandles;
+       
+       int m_maxNumTasks;
+public:
+       ///Setup and initialize SPU/CELL/Libspe2
+
+       struct  Win32ThreadConstructionInfo
+       {
+               Win32ThreadConstructionInfo(const char* uniqueName,
+                                                                       Win32ThreadFunc userThreadFunc,
+                                                                       Win32lsMemorySetupFunc  lsMemoryFunc,
+                                                                       int numThreads=1,
+                                                                       int threadStackSize=65535
+                                                                       )
+                                                                       :m_uniqueName(uniqueName),
+                                                                       m_userThreadFunc(userThreadFunc),
+                                                                       m_lsMemoryFunc(lsMemoryFunc),
+                                                                       m_numThreads(numThreads),
+                                                                       m_threadStackSize(threadStackSize)
+               {
+
+               }
+
+               const char*                             m_uniqueName;
+               Win32ThreadFunc                 m_userThreadFunc;
+               Win32lsMemorySetupFunc  m_lsMemoryFunc;
+               int                                             m_numThreads;
+               int                                             m_threadStackSize;
+
+       };
+
+
+
+       Win32ThreadSupport(const Win32ThreadConstructionInfo& threadConstructionInfo);
+
+///cleanup/shutdown Libspe2
+       virtual ~Win32ThreadSupport();
+
+       void    startThreads(const Win32ThreadConstructionInfo& threadInfo);
+
+
+///send messages to SPUs
+       virtual void sendRequest(uint32_t uiCommand, ppu_address_t uiArgument0, uint32_t uiArgument1);
+
+///check for messages from SPUs
+       virtual void waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1);
+
+       virtual bool isTaskCompleted(unsigned int *puiArgument0, unsigned int *puiArgument1, int timeOutInMilliseconds);
+
+///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded)
+       virtual void startSPU();
+
+///tell the task scheduler we are done with the SPU tasks
+       virtual void stopSPU();
+
+       virtual void    setNumTasks(int numTasks)
+       {
+               m_maxNumTasks = numTasks;
+       }
+
+       virtual int getNumTasks() const
+       {
+               return m_maxNumTasks;
+       }
+
+       virtual void*   getThreadLocalMemory(int taskId)
+       {
+               return m_activeSpuStatus[taskId].m_lsMemory;
+       }
+       virtual btBarrier*      createBarrier();
+
+       virtual btCriticalSection* createCriticalSection();
+
+       virtual void deleteBarrier(btBarrier* barrier);
+
+        virtual void deleteCriticalSection(btCriticalSection* criticalSection);
+};
+
+#endif //BT_WIN32_THREAD_SUPPORT_H
+
+#endif //USE_WIN32_THREADING

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btGpu3DGridBroadphase.cpp b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btGpu3DGridBroadphase.cpp
new file mode 100644 (file)
index 0000000..e1d0219
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btGpu3DGridBroadphase.cpp
@@ -0,0 +1,590 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
+Copyright (C) 2006, 2009 Sony Computer Entertainment Inc. 
+
+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.
+*/
+
+///The 3 following lines include the CPU implementation of the kernels, keep them in this order.
+#include "BulletMultiThreaded/btGpuDefines.h"
+#include "BulletMultiThreaded/btGpuUtilsSharedDefs.h"
+#include "BulletMultiThreaded/btGpuUtilsSharedCode.h"
+
+
+
+#include "LinearMath/btAlignedAllocator.h"
+#include "LinearMath/btQuickprof.h"
+#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
+
+
+
+#include "btGpuDefines.h"
+#include "btGpuUtilsSharedDefs.h"
+
+#include "btGpu3DGridBroadphaseSharedDefs.h"
+
+#include "btGpu3DGridBroadphase.h"
+#include <string.h> //for memset
+
+
+#include <stdio.h>
+
+
+
+static bt3DGridBroadphaseParams s3DGridBroadphaseParams;
+
+
+
+btGpu3DGridBroadphase::btGpu3DGridBroadphase(  const btVector3& worldAabbMin,const btVector3& worldAabbMax, 
+                                                                               int gridSizeX, int gridSizeY, int gridSizeZ, 
+                                                                               int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
+                                                                               int maxBodiesPerCell,
+                                                                               btScalar cellFactorAABB) :
+       btSimpleBroadphase(maxSmallProxies,
+//                                  new (btAlignedAlloc(sizeof(btSortedOverlappingPairCache),16)) btSortedOverlappingPairCache),
+                                    new (btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache),
+       m_bInitialized(false),
+    m_numBodies(0)
+{
+       _initialize(worldAabbMin, worldAabbMax, gridSizeX, gridSizeY, gridSizeZ, 
+                               maxSmallProxies, maxLargeProxies, maxPairsPerBody,
+                               maxBodiesPerCell, cellFactorAABB);
+}
+
+
+
+btGpu3DGridBroadphase::btGpu3DGridBroadphase(  btOverlappingPairCache* overlappingPairCache,
+                                                                               const btVector3& worldAabbMin,const btVector3& worldAabbMax, 
+                                                                               int gridSizeX, int gridSizeY, int gridSizeZ, 
+                                                                               int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
+                                                                               int maxBodiesPerCell,
+                                                                               btScalar cellFactorAABB) :
+       btSimpleBroadphase(maxSmallProxies, overlappingPairCache),
+       m_bInitialized(false),
+    m_numBodies(0)
+{
+       _initialize(worldAabbMin, worldAabbMax, gridSizeX, gridSizeY, gridSizeZ, 
+                               maxSmallProxies, maxLargeProxies, maxPairsPerBody,
+                               maxBodiesPerCell, cellFactorAABB);
+}
+
+
+
+btGpu3DGridBroadphase::~btGpu3DGridBroadphase()
+{
+       //btSimpleBroadphase will free memory of btSortedOverlappingPairCache, because m_ownsPairCache
+       btAssert(m_bInitialized);
+       _finalize();
+}
+
+
+
+void btGpu3DGridBroadphase::_initialize(       const btVector3& worldAabbMin,const btVector3& worldAabbMax, 
+                                                                               int gridSizeX, int gridSizeY, int gridSizeZ, 
+                                                                               int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
+                                                                               int maxBodiesPerCell,
+                                                                               btScalar cellFactorAABB)
+{
+       // set various paramerers
+       m_ownsPairCache = true;
+       m_params.m_gridSizeX = gridSizeX;
+       m_params.m_gridSizeY = gridSizeY;
+       m_params.m_gridSizeZ = gridSizeZ;
+       m_params.m_numCells = m_params.m_gridSizeX * m_params.m_gridSizeY * m_params.m_gridSizeZ;
+       btVector3 w_org = worldAabbMin;
+       m_params.m_worldOriginX = w_org.getX();
+       m_params.m_worldOriginY = w_org.getY();
+       m_params.m_worldOriginZ = w_org.getZ();
+       btVector3 w_size = worldAabbMax - worldAabbMin;
+       m_params.m_cellSizeX = w_size.getX() / m_params.m_gridSizeX;
+       m_params.m_cellSizeY = w_size.getY() / m_params.m_gridSizeY;
+       m_params.m_cellSizeZ = w_size.getZ() / m_params.m_gridSizeZ;
+       m_maxRadius = btMin(btMin(m_params.m_cellSizeX, m_params.m_cellSizeY), m_params.m_cellSizeZ);
+       m_maxRadius *= btScalar(0.5f);
+       m_params.m_numBodies = m_numBodies;
+       m_params.m_maxBodiesPerCell = maxBodiesPerCell;
+
+       m_numLargeHandles = 0;                                          
+       m_maxLargeHandles = maxLargeProxies;
+
+       m_maxPairsPerBody = maxPairsPerBody;
+
+       m_cellFactorAABB = cellFactorAABB;
+
+       m_LastLargeHandleIndex = -1;
+
+    btAssert(!m_bInitialized);
+    // allocate host storage
+    m_hBodiesHash = new unsigned int[m_maxHandles * 2];
+    memset(m_hBodiesHash, 0x00, m_maxHandles*2*sizeof(unsigned int));
+
+    m_hCellStart = new unsigned int[m_params.m_numCells];
+    memset(m_hCellStart, 0x00, m_params.m_numCells * sizeof(unsigned int));
+
+       m_hPairBuffStartCurr = new unsigned int[m_maxHandles * 2 + 2];
+       // --------------- for now, init with m_maxPairsPerBody for each body
+       m_hPairBuffStartCurr[0] = 0;
+       m_hPairBuffStartCurr[1] = 0;
+       for(int i = 1; i <= m_maxHandles; i++) 
+       {
+               m_hPairBuffStartCurr[i * 2] = m_hPairBuffStartCurr[(i-1) * 2] + m_maxPairsPerBody;
+               m_hPairBuffStartCurr[i * 2 + 1] = 0;
+       }
+       //----------------
+       unsigned int numAABB = m_maxHandles + m_maxLargeHandles;
+       m_hAABB = new bt3DGrid3F1U[numAABB * 2]; // AABB Min & Max
+
+       m_hPairBuff = new unsigned int[m_maxHandles * m_maxPairsPerBody];
+       memset(m_hPairBuff, 0x00, m_maxHandles * m_maxPairsPerBody * sizeof(unsigned int)); // needed?
+
+       m_hPairScan = new unsigned int[m_maxHandles + 1];
+
+       m_hPairOut = new unsigned int[m_maxHandles * m_maxPairsPerBody];
+
+// large proxies
+
+       // allocate handles buffer and put all handles on free list
+       m_pLargeHandlesRawPtr = btAlignedAlloc(sizeof(btSimpleBroadphaseProxy) * m_maxLargeHandles, 16);
+       m_pLargeHandles = new(m_pLargeHandlesRawPtr) btSimpleBroadphaseProxy[m_maxLargeHandles];
+       m_firstFreeLargeHandle = 0;
+       {
+               for (int i = m_firstFreeLargeHandle; i < m_maxLargeHandles; i++)
+               {
+                       m_pLargeHandles[i].SetNextFree(i + 1);
+                       m_pLargeHandles[i].m_uniqueId = m_maxHandles+2+i;
+               }
+               m_pLargeHandles[m_maxLargeHandles - 1].SetNextFree(0);
+       }
+
+// debug data
+       m_numPairsAdded = 0;
+       m_numOverflows = 0;
+
+    m_bInitialized = true;
+}
+
+
+
+void btGpu3DGridBroadphase::_finalize()
+{
+    btAssert(m_bInitialized);
+    delete [] m_hBodiesHash;
+    delete [] m_hCellStart;
+    delete [] m_hPairBuffStartCurr;
+    delete [] m_hAABB;
+       delete [] m_hPairBuff;
+       delete [] m_hPairScan;
+       delete [] m_hPairOut;
+       btAlignedFree(m_pLargeHandlesRawPtr);
+       m_bInitialized = false;
+}
+
+
+
+void btGpu3DGridBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
+{
+       if(m_numHandles <= 0)
+       {
+               BT_PROFILE("addLarge2LargePairsToCache");
+               addLarge2LargePairsToCache(dispatcher);
+               return;
+       }
+       // update constants
+       setParameters(&m_params);
+       // prepare AABB array
+       prepareAABB();
+       // calculate hash
+       calcHashAABB();
+       // sort bodies based on hash
+       sortHash();
+       // find start of each cell
+       findCellStart();
+       // findOverlappingPairs (small/small)
+       findOverlappingPairs();
+       // findOverlappingPairs (small/large)
+       findPairsLarge();
+       // add pairs to CPU cache
+       computePairCacheChanges();
+       scanOverlappingPairBuff();
+       squeezeOverlappingPairBuff();
+       addPairsToCache(dispatcher);
+       // find and add large/large pairs to CPU cache
+       addLarge2LargePairsToCache(dispatcher);
+       return;
+}
+
+
+
+void btGpu3DGridBroadphase::addPairsToCache(btDispatcher* dispatcher)
+{
+       m_numPairsAdded = 0;
+       m_numPairsRemoved = 0;
+       for(int i = 0; i < m_numHandles; i++) 
+       {
+               unsigned int num = m_hPairScan[i+1] - m_hPairScan[i];
+               if(!num)
+               {
+                       continue;
+               }
+               unsigned int* pInp = m_hPairOut + m_hPairScan[i];
+               unsigned int index0 = m_hAABB[i * 2].uw;
+               btSimpleBroadphaseProxy* proxy0 = &m_pHandles[index0];
+               for(unsigned int j = 0; j < num; j++)
+               {
+                       unsigned int indx1_s = pInp[j];
+                       unsigned int index1 = indx1_s & (~BT_3DGRID_PAIR_ANY_FLG);
+                       btSimpleBroadphaseProxy* proxy1;
+                       if(index1 < (unsigned int)m_maxHandles)
+                       {
+                               proxy1 = &m_pHandles[index1];
+                       }
+                       else
+                       {
+                               index1 -= m_maxHandles;
+                               btAssert((index1 >= 0) && (index1 < (unsigned int)m_maxLargeHandles));
+                               proxy1 = &m_pLargeHandles[index1];
+                       }
+                       if(indx1_s & BT_3DGRID_PAIR_NEW_FLG)
+                       {
+                               m_pairCache->addOverlappingPair(proxy0,proxy1);
+                               m_numPairsAdded++;
+                       }
+                       else
+                       {
+                               m_pairCache->removeOverlappingPair(proxy0,proxy1,dispatcher);
+                               m_numPairsRemoved++;
+                       }
+               }
+       }
+}
+
+
+
+btBroadphaseProxy* btGpu3DGridBroadphase::createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy)
+{
+       btBroadphaseProxy*  proxy;
+       bool bIsLarge = isLargeProxy(aabbMin, aabbMax);
+       if(bIsLarge)
+       {
+               if (m_numLargeHandles >= m_maxLargeHandles)
+               {
+                       ///you have to increase the cell size, so 'large' proxies become 'small' proxies (fitting a cell)
+                       btAssert(0);
+                       return 0; //should never happen, but don't let the game crash ;-)
+               }
+               btAssert((aabbMin[0]<= aabbMax[0]) && (aabbMin[1]<= aabbMax[1]) && (aabbMin[2]<= aabbMax[2]));
+               int newHandleIndex = allocLargeHandle();
+               proxy = new (&m_pLargeHandles[newHandleIndex])btSimpleBroadphaseProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy);
+       }
+       else
+       {
+               proxy = btSimpleBroadphase::createProxy(aabbMin, aabbMax, shapeType, userPtr, collisionFilterGroup, collisionFilterMask, dispatcher, multiSapProxy);
+       }
+       return proxy;
+}
+
+
+
+void btGpu3DGridBroadphase::destroyProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher)
+{
+       bool bIsLarge = isLargeProxy(proxy);
+       if(bIsLarge)
+       {
+               
+               btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxy);
+               freeLargeHandle(proxy0);
+               m_pairCache->removeOverlappingPairsContainingProxy(proxy,dispatcher);
+       }
+       else
+       {
+               btSimpleBroadphase::destroyProxy(proxy, dispatcher);
+       }
+       return;
+}
+
+
+
+void btGpu3DGridBroadphase::resetPool(btDispatcher* dispatcher)
+{
+       m_hPairBuffStartCurr[0] = 0;
+       m_hPairBuffStartCurr[1] = 0;
+       for(int i = 1; i <= m_maxHandles; i++) 
+       {
+               m_hPairBuffStartCurr[i * 2] = m_hPairBuffStartCurr[(i-1) * 2] + m_maxPairsPerBody;
+               m_hPairBuffStartCurr[i * 2 + 1] = 0;
+       }
+}
+
+
+
+bool btGpu3DGridBroadphase::isLargeProxy(const btVector3& aabbMin,  const btVector3& aabbMax)
+{
+       btVector3 diag = aabbMax - aabbMin;
+       
+       ///use the bounding sphere radius of this bounding box, to include rotation
+       btScalar radius = diag.length() * btScalar(0.5f);
+       radius *= m_cellFactorAABB; // user-defined factor
+
+       return (radius > m_maxRadius);
+}
+
+
+
+bool btGpu3DGridBroadphase::isLargeProxy(btBroadphaseProxy* proxy)
+{
+       return (proxy->getUid() >= (m_maxHandles+2));
+}
+
+
+
+void btGpu3DGridBroadphase::addLarge2LargePairsToCache(btDispatcher* dispatcher)
+{
+       int i,j;
+       if (m_numLargeHandles <= 0)
+       {
+               return;
+       }
+       int new_largest_index = -1;
+       for(i = 0; i <= m_LastLargeHandleIndex; i++)
+       {
+               btSimpleBroadphaseProxy* proxy0 = &m_pLargeHandles[i];
+               if(!proxy0->m_clientObject)
+               {
+                       continue;
+               }
+               new_largest_index = i;
+               for(j = i + 1; j <= m_LastLargeHandleIndex; j++)
+               {
+                       btSimpleBroadphaseProxy* proxy1 = &m_pLargeHandles[j];
+                       if(!proxy1->m_clientObject)
+                       {
+                               continue;
+                       }
+                       btAssert(proxy0 != proxy1);
+                       btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
+                       btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
+                       if(aabbOverlap(p0,p1))
+                       {
+                               if (!m_pairCache->findPair(proxy0,proxy1))
+                               {
+                                       m_pairCache->addOverlappingPair(proxy0,proxy1);
+                               }
+                       } 
+                       else
+                       {
+                               if(m_pairCache->findPair(proxy0,proxy1))
+                               {
+                                       m_pairCache->removeOverlappingPair(proxy0,proxy1,dispatcher);
+                               }
+                       }
+               }
+       }
+       m_LastLargeHandleIndex = new_largest_index;
+       return;
+}
+
+
+
+void btGpu3DGridBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin,const btVector3& aabbMax)
+{
+       btSimpleBroadphase::rayTest(rayFrom, rayTo, rayCallback);
+       for (int i=0; i <= m_LastLargeHandleIndex; i++)
+       {
+               btSimpleBroadphaseProxy* proxy = &m_pLargeHandles[i];
+               if(!proxy->m_clientObject)
+               {
+                       continue;
+               }
+               rayCallback.process(proxy);
+       }
+}
+
+
+
+//
+// overrides for CPU version
+//
+
+
+
+void btGpu3DGridBroadphase::prepareAABB()
+{
+       BT_PROFILE("prepareAABB");
+       bt3DGrid3F1U* pBB = m_hAABB;
+       int i;
+       int new_largest_index = -1;
+       unsigned int num_small = 0;
+       for(i = 0; i <= m_LastHandleIndex; i++) 
+       {
+               btSimpleBroadphaseProxy* proxy0 = &m_pHandles[i];
+               if(!proxy0->m_clientObject)
+               {
+                       continue;
+               }
+               new_largest_index = i;
+               pBB->fx = proxy0->m_aabbMin.getX();
+               pBB->fy = proxy0->m_aabbMin.getY();
+               pBB->fz = proxy0->m_aabbMin.getZ();
+               pBB->uw = i;
+               pBB++;
+               pBB->fx = proxy0->m_aabbMax.getX();
+               pBB->fy = proxy0->m_aabbMax.getY();
+               pBB->fz = proxy0->m_aabbMax.getZ();
+               pBB->uw = num_small;
+               pBB++;
+               num_small++;
+       }
+       m_LastHandleIndex = new_largest_index;
+       new_largest_index = -1;
+       unsigned int num_large = 0;
+       for(i = 0; i <= m_LastLargeHandleIndex; i++) 
+       {
+               btSimpleBroadphaseProxy* proxy0 = &m_pLargeHandles[i];
+               if(!proxy0->m_clientObject)
+               {
+                       continue;
+               }
+               new_largest_index = i;
+               pBB->fx = proxy0->m_aabbMin.getX();
+               pBB->fy = proxy0->m_aabbMin.getY();
+               pBB->fz = proxy0->m_aabbMin.getZ();
+               pBB->uw = i + m_maxHandles;
+               pBB++;
+               pBB->fx = proxy0->m_aabbMax.getX();
+               pBB->fy = proxy0->m_aabbMax.getY();
+               pBB->fz = proxy0->m_aabbMax.getZ();
+               pBB->uw = num_large + m_maxHandles;
+               pBB++;
+               num_large++;
+       }
+       m_LastLargeHandleIndex = new_largest_index;
+       // paranoid checks
+       btAssert(num_small == m_numHandles);
+       btAssert(num_large == m_numLargeHandles);
+       return;
+}
+
+
+
+void btGpu3DGridBroadphase::setParameters(bt3DGridBroadphaseParams* hostParams)
+{
+       s3DGridBroadphaseParams = *hostParams;
+       return;
+}
+
+
+
+void btGpu3DGridBroadphase::calcHashAABB()
+{
+       BT_PROFILE("bt3DGrid_calcHashAABB");
+       btGpu_calcHashAABB(m_hAABB, m_hBodiesHash, m_numHandles);
+       return;
+}
+
+
+
+void btGpu3DGridBroadphase::sortHash()
+{
+       class bt3DGridHashKey
+       {
+       public:
+          unsigned int hash;
+          unsigned int index;
+          void quickSort(bt3DGridHashKey* pData, int lo, int hi)
+          {
+                       int i=lo, j=hi;
+                       bt3DGridHashKey x = pData[(lo+hi)/2];
+                       do
+                       {    
+                               while(pData[i].hash > x.hash) i++; 
+                               while(x.hash > pData[j].hash) j--;
+                               if(i <= j)
+                               {
+                                       bt3DGridHashKey t = pData[i];
+                                       pData[i] = pData[j];
+                                       pData[j] = t;
+                                       i++; j--;
+                               }
+                       } while(i <= j);
+                       if(lo < j) pData->quickSort(pData, lo, j);
+                       if(i < hi) pData->quickSort(pData, i, hi);
+          }
+       };
+       BT_PROFILE("bt3DGrid_sortHash");
+       bt3DGridHashKey* pHash = (bt3DGridHashKey*)m_hBodiesHash;
+       pHash->quickSort(pHash, 0, m_numHandles - 1);
+       return;
+}
+
+
+
+void btGpu3DGridBroadphase::findCellStart()
+{
+       BT_PROFILE("bt3DGrid_findCellStart");
+       btGpu_findCellStart(m_hBodiesHash, m_hCellStart, m_numHandles, m_params.m_numCells);
+       return;
+}
+
+
+
+void btGpu3DGridBroadphase::findOverlappingPairs()
+{
+       BT_PROFILE("bt3DGrid_findOverlappingPairs");
+       btGpu_findOverlappingPairs(m_hAABB, m_hBodiesHash, m_hCellStart, m_hPairBuff, m_hPairBuffStartCurr, m_numHandles);
+       return;
+}
+
+
+
+void btGpu3DGridBroadphase::findPairsLarge()
+{
+       BT_PROFILE("bt3DGrid_findPairsLarge");
+       btGpu_findPairsLarge(m_hAABB, m_hBodiesHash, m_hCellStart, m_hPairBuff, m_hPairBuffStartCurr,   m_numHandles, m_numLargeHandles);
+       return;
+}
+
+
+
+void btGpu3DGridBroadphase::computePairCacheChanges()
+{
+       BT_PROFILE("bt3DGrid_computePairCacheChanges");
+       btGpu_computePairCacheChanges(m_hPairBuff, m_hPairBuffStartCurr, m_hPairScan, m_hAABB, m_numHandles);
+       return;
+}
+
+
+
+void btGpu3DGridBroadphase::scanOverlappingPairBuff()
+{
+       BT_PROFILE("bt3DGrid_scanOverlappingPairBuff");
+       m_hPairScan[0] = 0;
+       for(int i = 1; i <= m_numHandles; i++) 
+       {
+               unsigned int delta = m_hPairScan[i];
+               m_hPairScan[i] = m_hPairScan[i-1] + delta;
+       }
+       return;
+}
+
+
+
+void btGpu3DGridBroadphase::squeezeOverlappingPairBuff()
+{
+       BT_PROFILE("bt3DGrid_squeezeOverlappingPairBuff");
+       btGpu_squeezeOverlappingPairBuff(m_hPairBuff, m_hPairBuffStartCurr, m_hPairScan, m_hPairOut, m_hAABB, m_numHandles);
+       return;
+}
+
+
+
+#include "btGpu3DGridBroadphaseSharedCode.h"
+
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btGpu3DGridBroadphase.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btGpu3DGridBroadphase.h
new file mode 100644 (file)
index 0000000..1154a5f
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btGpu3DGridBroadphase.h
@@ -0,0 +1,140 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
+Copyright (C) 2006, 2009 Sony Computer Entertainment Inc. 
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+//----------------------------------------------------------------------------------------
+
+#ifndef BTGPU3DGRIDBROADPHASE_H
+#define BTGPU3DGRIDBROADPHASE_H
+
+//----------------------------------------------------------------------------------------
+
+#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
+
+#include "btGpu3DGridBroadphaseSharedTypes.h"
+
+//----------------------------------------------------------------------------------------
+
+///The btGpu3DGridBroadphase uses GPU-style code compiled for CPU to compute overlapping pairs
+
+class btGpu3DGridBroadphase : public btSimpleBroadphase
+{
+protected:
+       bool                    m_bInitialized;
+    unsigned int       m_numBodies;
+    unsigned int       m_numCells;
+       unsigned int    m_maxPairsPerBody;
+       btScalar                m_cellFactorAABB;
+    unsigned int       m_maxBodiesPerCell;
+       bt3DGridBroadphaseParams m_params;
+       btScalar                m_maxRadius;
+       // CPU data
+    unsigned int*      m_hBodiesHash;
+    unsigned int*      m_hCellStart;
+       unsigned int*   m_hPairBuffStartCurr;
+       bt3DGrid3F1U*           m_hAABB;
+       unsigned int*   m_hPairBuff;
+       unsigned int*   m_hPairScan;
+       unsigned int*   m_hPairOut;
+// large proxies
+       int             m_numLargeHandles;                                              
+       int             m_maxLargeHandles;                                              
+       int             m_LastLargeHandleIndex;                                                 
+       btSimpleBroadphaseProxy* m_pLargeHandles;
+       void* m_pLargeHandlesRawPtr;
+       int             m_firstFreeLargeHandle;
+       int allocLargeHandle()
+       {
+               btAssert(m_numLargeHandles < m_maxLargeHandles);
+               int freeLargeHandle = m_firstFreeLargeHandle;
+               m_firstFreeLargeHandle = m_pLargeHandles[freeLargeHandle].GetNextFree();
+               m_numLargeHandles++;
+               if(freeLargeHandle > m_LastLargeHandleIndex)
+               {
+                       m_LastLargeHandleIndex = freeLargeHandle;
+               }
+               return freeLargeHandle;
+       }
+       void freeLargeHandle(btSimpleBroadphaseProxy* proxy)
+       {
+               int handle = int(proxy - m_pLargeHandles);
+               btAssert((handle >= 0) && (handle < m_maxHandles));
+               if(handle == m_LastLargeHandleIndex)
+               {
+                       m_LastLargeHandleIndex--;
+               }
+               proxy->SetNextFree(m_firstFreeLargeHandle);
+               m_firstFreeLargeHandle = handle;
+               proxy->m_clientObject = 0;
+               m_numLargeHandles--;
+       }
+       bool isLargeProxy(const btVector3& aabbMin,  const btVector3& aabbMax);
+       bool isLargeProxy(btBroadphaseProxy* proxy);
+// debug
+       unsigned int    m_numPairsAdded;
+       unsigned int    m_numPairsRemoved;
+       unsigned int    m_numOverflows;
+// 
+public:
+       btGpu3DGridBroadphase(const btVector3& worldAabbMin,const btVector3& worldAabbMax, 
+                                          int gridSizeX, int gridSizeY, int gridSizeZ, 
+                                          int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
+                                          int maxBodiesPerCell = 8,
+                                          btScalar cellFactorAABB = btScalar(1.0f));
+       btGpu3DGridBroadphase(  btOverlappingPairCache* overlappingPairCache,
+                                               const btVector3& worldAabbMin,const btVector3& worldAabbMax, 
+                                               int gridSizeX, int gridSizeY, int gridSizeZ, 
+                                               int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
+                                               int maxBodiesPerCell = 8,
+                                               btScalar cellFactorAABB = btScalar(1.0f));
+       virtual ~btGpu3DGridBroadphase();
+       virtual void    calculateOverlappingPairs(btDispatcher* dispatcher);
+
+       virtual btBroadphaseProxy*      createProxy(const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
+       virtual void    destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
+       virtual void    rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0),const btVector3& aabbMax=btVector3(0,0,0));
+
+    
+       virtual void    resetPool(btDispatcher* dispatcher);
+
+protected:
+       void _initialize(       const btVector3& worldAabbMin,const btVector3& worldAabbMax, 
+                                               int gridSizeX, int gridSizeY, int gridSizeZ, 
+                                               int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
+                                               int maxBodiesPerCell = 8,
+                                               btScalar cellFactorAABB = btScalar(1.0f));
+       void _finalize();
+       void addPairsToCache(btDispatcher* dispatcher);
+       void addLarge2LargePairsToCache(btDispatcher* dispatcher);
+
+// overrides for CPU version
+       virtual void setParameters(bt3DGridBroadphaseParams* hostParams);
+       virtual void prepareAABB();
+       virtual void calcHashAABB();
+       virtual void sortHash();        
+       virtual void findCellStart();
+       virtual void findOverlappingPairs();
+       virtual void findPairsLarge();
+       virtual void computePairCacheChanges();
+       virtual void scanOverlappingPairBuff();
+       virtual void squeezeOverlappingPairBuff();
+};
+
+//----------------------------------------------------------------------------------------
+
+#endif //BTGPU3DGRIDBROADPHASE_H
+
+//----------------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------------

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btGpu3DGridBroadphaseSharedCode.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btGpu3DGridBroadphaseSharedCode.h
new file mode 100644 (file)
index 0000000..e0afb87
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btGpu3DGridBroadphaseSharedCode.h
@@ -0,0 +1,430 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
+Copyright (C) 2006, 2009 Sony Computer Entertainment Inc. 
+
+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.
+*/
+
+//----------------------------------------------------------------------------------------
+
+//----------------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------------
+//               K E R N E L    F U N C T I O N S 
+//----------------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------------
+
+// calculate position in uniform grid
+BT_GPU___device__ int3 bt3DGrid_calcGridPos(float4 p)
+{
+    int3 gridPos;
+    gridPos.x = (int)floor((p.x - BT_GPU_params.m_worldOriginX) / BT_GPU_params.m_cellSizeX);
+    gridPos.y = (int)floor((p.y - BT_GPU_params.m_worldOriginY) / BT_GPU_params.m_cellSizeY);
+    gridPos.z = (int)floor((p.z - BT_GPU_params.m_worldOriginZ) / BT_GPU_params.m_cellSizeZ);
+    return gridPos;
+} // bt3DGrid_calcGridPos()
+
+//----------------------------------------------------------------------------------------
+
+// calculate address in grid from position (clamping to edges)
+BT_GPU___device__ uint bt3DGrid_calcGridHash(int3 gridPos)
+{
+    gridPos.x = BT_GPU_max(0, BT_GPU_min(gridPos.x, (int)BT_GPU_params.m_gridSizeX - 1));
+    gridPos.y = BT_GPU_max(0, BT_GPU_min(gridPos.y, (int)BT_GPU_params.m_gridSizeY - 1));
+    gridPos.z = BT_GPU_max(0, BT_GPU_min(gridPos.z, (int)BT_GPU_params.m_gridSizeZ - 1));
+    return BT_GPU___mul24(BT_GPU___mul24(gridPos.z, BT_GPU_params.m_gridSizeY), BT_GPU_params.m_gridSizeX) + BT_GPU___mul24(gridPos.y, BT_GPU_params.m_gridSizeX) + gridPos.x;
+} // bt3DGrid_calcGridHash()
+
+//----------------------------------------------------------------------------------------
+
+// calculate grid hash value for each body using its AABB
+BT_GPU___global__ void calcHashAABBD(bt3DGrid3F1U* pAABB, uint2* pHash, uint numBodies)
+{
+    int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
+    if(index >= (int)numBodies)
+       {
+               return;
+       }
+       bt3DGrid3F1U bbMin = pAABB[index*2];
+       bt3DGrid3F1U bbMax = pAABB[index*2 + 1];
+       float4 pos;
+       pos.x = (bbMin.fx + bbMax.fx) * 0.5f;
+       pos.y = (bbMin.fy + bbMax.fy) * 0.5f;
+       pos.z = (bbMin.fz + bbMax.fz) * 0.5f;
+    // get address in grid
+    int3 gridPos = bt3DGrid_calcGridPos(pos);
+    uint gridHash = bt3DGrid_calcGridHash(gridPos);
+    // store grid hash and body index
+    pHash[index] = BT_GPU_make_uint2(gridHash, index);
+} // calcHashAABBD()
+
+//----------------------------------------------------------------------------------------
+
+BT_GPU___global__ void findCellStartD(uint2* pHash, uint* cellStart, uint numBodies)
+{
+    int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
+    if(index >= (int)numBodies)
+       {
+               return;
+       }
+    uint2 sortedData = pHash[index];
+       // Load hash data into shared memory so that we can look 
+       // at neighboring body's hash value without loading
+       // two hash values per thread
+       BT_GPU___shared__ uint sharedHash[257];
+       sharedHash[BT_GPU_threadIdx.x+1] = sortedData.x;
+       if((index > 0) && (BT_GPU_threadIdx.x == 0))
+       {
+               // first thread in block must load neighbor body hash
+               volatile uint2 prevData = pHash[index-1];
+               sharedHash[0] = prevData.x;
+       }
+       BT_GPU___syncthreads();
+       if((index == 0) || (sortedData.x != sharedHash[BT_GPU_threadIdx.x]))
+       {
+               cellStart[sortedData.x] = index;
+       }
+} // findCellStartD()
+
+//----------------------------------------------------------------------------------------
+
+BT_GPU___device__ uint cudaTestAABBOverlap(bt3DGrid3F1U min0, bt3DGrid3F1U max0, bt3DGrid3F1U min1, bt3DGrid3F1U max1)
+{
+       return  (min0.fx <= max1.fx)&& (min1.fx <= max0.fx) && 
+                       (min0.fy <= max1.fy)&& (min1.fy <= max0.fy) && 
+                       (min0.fz <= max1.fz)&& (min1.fz <= max0.fz); 
+} // cudaTestAABBOverlap()
+ 
+//----------------------------------------------------------------------------------------
+
+BT_GPU___device__ void findPairsInCell(        int3    gridPos,
+                                                                               uint    index,
+                                                                               uint2*  pHash,
+                                                                               uint*   pCellStart,
+                                                                               bt3DGrid3F1U* pAABB, 
+                                                                               uint*   pPairBuff,
+                                                                               uint2*  pPairBuffStartCurr,
+                                                                               uint    numBodies)
+{
+    if (       (gridPos.x < 0) || (gridPos.x > (int)BT_GPU_params.m_gridSizeX - 1)
+               ||      (gridPos.y < 0) || (gridPos.y > (int)BT_GPU_params.m_gridSizeY - 1)
+               ||  (gridPos.z < 0) || (gridPos.z > (int)BT_GPU_params.m_gridSizeZ - 1)) 
+    {
+               return;
+       }
+    uint gridHash = bt3DGrid_calcGridHash(gridPos);
+    // get start of bucket for this cell
+    uint bucketStart = pCellStart[gridHash];
+    if (bucketStart == 0xffffffff)
+       {
+        return;   // cell empty
+       }
+       // iterate over bodies in this cell
+    uint2 sortedData = pHash[index];
+       uint unsorted_indx = sortedData.y;
+    bt3DGrid3F1U min0 = BT_GPU_FETCH(pAABB, unsorted_indx*2); 
+       bt3DGrid3F1U max0 = BT_GPU_FETCH(pAABB, unsorted_indx*2 + 1);
+       uint handleIndex =  min0.uw;
+       uint2 start_curr = pPairBuffStartCurr[handleIndex];
+       uint start = start_curr.x;
+       uint curr = start_curr.y;
+       uint2 start_curr_next = pPairBuffStartCurr[handleIndex+1];
+       uint curr_max = start_curr_next.x - start - 1;
+       uint bucketEnd = bucketStart + BT_GPU_params.m_maxBodiesPerCell;
+       bucketEnd = (bucketEnd > numBodies) ? numBodies : bucketEnd;
+       for(uint index2 = bucketStart; index2 < bucketEnd; index2++) 
+       {
+        uint2 cellData = pHash[index2];
+        if (cellData.x != gridHash)
+        {
+                       break;   // no longer in same bucket
+               }
+               uint unsorted_indx2 = cellData.y;
+        if (unsorted_indx2 < unsorted_indx) // check not colliding with self
+        {   
+                       bt3DGrid3F1U min1 = BT_GPU_FETCH(pAABB, unsorted_indx2*2);
+                       bt3DGrid3F1U max1 = BT_GPU_FETCH(pAABB, unsorted_indx2*2 + 1);
+                       if(cudaTestAABBOverlap(min0, max0, min1, max1))
+                       {
+                               uint handleIndex2 = min1.uw;
+                               uint k;
+                               for(k = 0; k < curr; k++)
+                               {
+                                       uint old_pair = pPairBuff[start+k] & (~BT_3DGRID_PAIR_ANY_FLG);
+                                       if(old_pair == handleIndex2)
+                                       {
+                                               pPairBuff[start+k] |= BT_3DGRID_PAIR_FOUND_FLG;
+                                               break;
+                                       }
+                               }
+                               if(k == curr)
+                               {
+                                       if(curr >= curr_max) 
+                                       { // not a good solution, but let's avoid crash
+                                               break;
+                                       }
+                                       pPairBuff[start+curr] = handleIndex2 | BT_3DGRID_PAIR_NEW_FLG;
+                                       curr++;
+                               }
+                       }
+               }
+       }
+       pPairBuffStartCurr[handleIndex] = BT_GPU_make_uint2(start, curr);
+    return;
+} // findPairsInCell()
+
+//----------------------------------------------------------------------------------------
+
+BT_GPU___global__ void findOverlappingPairsD(  bt3DGrid3F1U*   pAABB, uint2* pHash, uint* pCellStart, 
+                                                                                               uint* pPairBuff, uint2* pPairBuffStartCurr, uint numBodies)
+{
+    int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
+    if(index >= (int)numBodies)
+       {
+               return;
+       }
+    uint2 sortedData = pHash[index];
+       uint unsorted_indx = sortedData.y;
+       bt3DGrid3F1U bbMin = BT_GPU_FETCH(pAABB, unsorted_indx*2);
+       bt3DGrid3F1U bbMax = BT_GPU_FETCH(pAABB, unsorted_indx*2 + 1);
+       float4 pos;
+       pos.x = (bbMin.fx + bbMax.fx) * 0.5f;
+       pos.y = (bbMin.fy + bbMax.fy) * 0.5f;
+       pos.z = (bbMin.fz + bbMax.fz) * 0.5f;
+    // get address in grid
+    int3 gridPos = bt3DGrid_calcGridPos(pos);
+    // examine only neighbouring cells
+    for(int z=-1; z<=1; z++) {
+        for(int y=-1; y<=1; y++) {
+            for(int x=-1; x<=1; x++) {
+                findPairsInCell(gridPos + BT_GPU_make_int3(x, y, z), index, pHash, pCellStart, pAABB, pPairBuff, pPairBuffStartCurr, numBodies);
+            }
+        }
+    }
+} // findOverlappingPairsD()
+
+//----------------------------------------------------------------------------------------
+
+BT_GPU___global__ void findPairsLargeD(        bt3DGrid3F1U* pAABB, uint2* pHash, uint* pCellStart, uint* pPairBuff, 
+                                                                               uint2* pPairBuffStartCurr, uint numBodies, uint numLarge)
+{
+    int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
+    if(index >= (int)numBodies)
+       {
+               return;
+       }
+    uint2 sortedData = pHash[index];
+       uint unsorted_indx = sortedData.y;
+       bt3DGrid3F1U min0 = BT_GPU_FETCH(pAABB, unsorted_indx*2);
+       bt3DGrid3F1U max0 = BT_GPU_FETCH(pAABB, unsorted_indx*2 + 1);
+       uint handleIndex =  min0.uw;
+       uint2 start_curr = pPairBuffStartCurr[handleIndex];
+       uint start = start_curr.x;
+       uint curr = start_curr.y;
+       uint2 start_curr_next = pPairBuffStartCurr[handleIndex+1];
+       uint curr_max = start_curr_next.x - start - 1;
+    for(uint i = 0; i < numLarge; i++)
+    {
+               uint indx2 = numBodies + i;
+               bt3DGrid3F1U min1 = BT_GPU_FETCH(pAABB, indx2*2);
+               bt3DGrid3F1U max1 = BT_GPU_FETCH(pAABB, indx2*2 + 1);
+               if(cudaTestAABBOverlap(min0, max0, min1, max1))
+               {
+                       uint k;
+                       uint handleIndex2 =  min1.uw;
+                       for(k = 0; k < curr; k++)
+                       {
+                               uint old_pair = pPairBuff[start+k] & (~BT_3DGRID_PAIR_ANY_FLG);
+                               if(old_pair == handleIndex2)
+                               {
+                                       pPairBuff[start+k] |= BT_3DGRID_PAIR_FOUND_FLG;
+                                       break;
+                               }
+                       }
+                       if(k == curr)
+                       {
+                               pPairBuff[start+curr] = handleIndex2 | BT_3DGRID_PAIR_NEW_FLG;
+                               if(curr >= curr_max) 
+                               { // not a good solution, but let's avoid crash
+                                       break;
+                               }
+                               curr++;
+                       }
+               }
+    }
+       pPairBuffStartCurr[handleIndex] = BT_GPU_make_uint2(start, curr);
+    return;
+} // findPairsLargeD()
+
+//----------------------------------------------------------------------------------------
+
+BT_GPU___global__ void computePairCacheChangesD(uint* pPairBuff, uint2* pPairBuffStartCurr, 
+                                                                                               uint* pPairScan, bt3DGrid3F1U* pAABB, uint numBodies)
+{
+    int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
+    if(index >= (int)numBodies)
+       {
+               return;
+       }
+       bt3DGrid3F1U bbMin = pAABB[index * 2];
+       uint handleIndex = bbMin.uw;
+       uint2 start_curr = pPairBuffStartCurr[handleIndex];
+       uint start = start_curr.x;
+       uint curr = start_curr.y;
+       uint *pInp = pPairBuff + start;
+       uint num_changes = 0;
+       for(uint k = 0; k < curr; k++, pInp++)
+       {
+               if(!((*pInp) & BT_3DGRID_PAIR_FOUND_FLG))
+               {
+                       num_changes++;
+               }
+       }
+       pPairScan[index+1] = num_changes;
+} // computePairCacheChangesD()
+
+//----------------------------------------------------------------------------------------
+
+BT_GPU___global__ void squeezeOverlappingPairBuffD(uint* pPairBuff, uint2* pPairBuffStartCurr, uint* pPairScan,
+                                                                                                  uint* pPairOut, bt3DGrid3F1U* pAABB, uint numBodies)
+{
+    int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
+    if(index >= (int)numBodies)
+       {
+               return;
+       }
+       bt3DGrid3F1U bbMin = pAABB[index * 2];
+       uint handleIndex = bbMin.uw;
+       uint2 start_curr = pPairBuffStartCurr[handleIndex];
+       uint start = start_curr.x;
+       uint curr = start_curr.y;
+       uint* pInp = pPairBuff + start;
+       uint* pOut = pPairOut + pPairScan[index];
+       uint* pOut2 = pInp;
+       uint num = 0; 
+       for(uint k = 0; k < curr; k++, pInp++)
+       {
+               if(!((*pInp) & BT_3DGRID_PAIR_FOUND_FLG))
+               {
+                       *pOut = *pInp;
+                       pOut++;
+               }
+               if((*pInp) & BT_3DGRID_PAIR_ANY_FLG)
+               {
+                       *pOut2 = (*pInp) & (~BT_3DGRID_PAIR_ANY_FLG);
+                       pOut2++;
+                       num++;
+               }
+       }
+       pPairBuffStartCurr[handleIndex] = BT_GPU_make_uint2(start, num);
+} // squeezeOverlappingPairBuffD()
+
+
+//----------------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------------
+//               E N D   O F    K E R N E L    F U N C T I O N S 
+//----------------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------------
+
+extern "C"
+{
+
+//----------------------------------------------------------------------------------------
+
+void BT_GPU_PREF(calcHashAABB)(bt3DGrid3F1U* pAABB, unsigned int* hash,        unsigned int numBodies)
+{
+    int numThreads, numBlocks;
+    BT_GPU_PREF(computeGridSize)(numBodies, 256, numBlocks, numThreads);
+    // execute the kernel
+    BT_GPU_EXECKERNEL(numBlocks, numThreads, calcHashAABBD, (pAABB, (uint2*)hash, numBodies));
+    // check if kernel invocation generated an error
+    BT_GPU_CHECK_ERROR("calcHashAABBD kernel execution failed");
+} // calcHashAABB()
+
+//----------------------------------------------------------------------------------------
+
+void BT_GPU_PREF(findCellStart(unsigned int* hash, unsigned int* cellStart, unsigned int numBodies, unsigned int numCells))
+{
+    int numThreads, numBlocks;
+    BT_GPU_PREF(computeGridSize)(numBodies, 256, numBlocks, numThreads);
+       BT_GPU_SAFE_CALL(BT_GPU_Memset(cellStart, 0xffffffff, numCells*sizeof(uint)));
+       BT_GPU_EXECKERNEL(numBlocks, numThreads, findCellStartD, ((uint2*)hash, (uint*)cellStart, numBodies));
+    BT_GPU_CHECK_ERROR("Kernel execution failed: findCellStartD");
+} // findCellStart()
+
+//----------------------------------------------------------------------------------------
+
+void BT_GPU_PREF(findOverlappingPairs(bt3DGrid3F1U* pAABB, unsigned int* pHash,        unsigned int* pCellStart, unsigned int* pPairBuff, unsigned int*        pPairBuffStartCurr, unsigned int        numBodies))
+{
+#if B_CUDA_USE_TEX
+    BT_GPU_SAFE_CALL(cudaBindTexture(0, pAABBTex, pAABB, numBodies * 2 * sizeof(bt3DGrid3F1U)));
+#endif
+    int numThreads, numBlocks;
+    BT_GPU_PREF(computeGridSize)(numBodies, 64, numBlocks, numThreads);
+    BT_GPU_EXECKERNEL(numBlocks, numThreads, findOverlappingPairsD, (pAABB,(uint2*)pHash,(uint*)pCellStart,(uint*)pPairBuff,(uint2*)pPairBuffStartCurr,numBodies));
+    BT_GPU_CHECK_ERROR("Kernel execution failed: bt_CudaFindOverlappingPairsD");
+#if B_CUDA_USE_TEX
+    BT_GPU_SAFE_CALL(cudaUnbindTexture(pAABBTex));
+#endif
+} // findOverlappingPairs()
+
+//----------------------------------------------------------------------------------------
+
+void BT_GPU_PREF(findPairsLarge(bt3DGrid3F1U* pAABB, unsigned int* pHash, unsigned int* pCellStart, unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int numBodies, unsigned int numLarge))
+{
+#if B_CUDA_USE_TEX
+    BT_GPU_SAFE_CALL(cudaBindTexture(0, pAABBTex, pAABB, (numBodies+numLarge) * 2 * sizeof(bt3DGrid3F1U)));
+#endif
+    int numThreads, numBlocks;
+    BT_GPU_PREF(computeGridSize)(numBodies, 64, numBlocks, numThreads);
+    BT_GPU_EXECKERNEL(numBlocks, numThreads, findPairsLargeD, (pAABB,(uint2*)pHash,(uint*)pCellStart,(uint*)pPairBuff,(uint2*)pPairBuffStartCurr,numBodies,numLarge));
+    BT_GPU_CHECK_ERROR("Kernel execution failed: btCuda_findPairsLargeD");
+#if B_CUDA_USE_TEX
+    BT_GPU_SAFE_CALL(cudaUnbindTexture(pAABBTex));
+#endif
+} // findPairsLarge()
+
+//----------------------------------------------------------------------------------------
+
+void BT_GPU_PREF(computePairCacheChanges(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan, bt3DGrid3F1U* pAABB, unsigned int numBodies))
+{
+    int numThreads, numBlocks;
+    BT_GPU_PREF(computeGridSize)(numBodies, 256, numBlocks, numThreads);
+    BT_GPU_EXECKERNEL(numBlocks, numThreads, computePairCacheChangesD, ((uint*)pPairBuff,(uint2*)pPairBuffStartCurr,(uint*)pPairScan,pAABB,numBodies));
+    BT_GPU_CHECK_ERROR("Kernel execution failed: btCudaComputePairCacheChangesD");
+} // computePairCacheChanges()
+
+//----------------------------------------------------------------------------------------
+
+void BT_GPU_PREF(squeezeOverlappingPairBuff(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan, unsigned int* pPairOut, bt3DGrid3F1U* pAABB, unsigned int numBodies))
+{
+    int numThreads, numBlocks;
+    BT_GPU_PREF(computeGridSize)(numBodies, 256, numBlocks, numThreads);
+    BT_GPU_EXECKERNEL(numBlocks, numThreads, squeezeOverlappingPairBuffD, ((uint*)pPairBuff,(uint2*)pPairBuffStartCurr,(uint*)pPairScan,(uint*)pPairOut,pAABB,numBodies));
+    BT_GPU_CHECK_ERROR("Kernel execution failed: btCudaSqueezeOverlappingPairBuffD");
+} // btCuda_squeezeOverlappingPairBuff()
+
+//------------------------------------------------------------------------------------------------
+
+} // extern "C"
+
+//------------------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------------------

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btGpu3DGridBroadphaseSharedDefs.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btGpu3DGridBroadphaseSharedDefs.h
new file mode 100644 (file)
index 0000000..607bda7
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btGpu3DGridBroadphaseSharedDefs.h
@@ -0,0 +1,61 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
+Copyright (C) 2006, 2009 Sony Computer Entertainment Inc. 
+
+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.
+*/
+
+//----------------------------------------------------------------------------------------
+
+// Shared definitions for GPU-based 3D Grid collision detection broadphase
+
+//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+//  Keep this file free from Bullet headers
+//  it is included into both CUDA and CPU code
+//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+//----------------------------------------------------------------------------------------
+
+#ifndef BTGPU3DGRIDBROADPHASESHAREDDEFS_H
+#define BTGPU3DGRIDBROADPHASESHAREDDEFS_H
+
+//----------------------------------------------------------------------------------------
+
+#include "btGpu3DGridBroadphaseSharedTypes.h"
+
+//----------------------------------------------------------------------------------------
+
+extern "C"
+{
+
+//----------------------------------------------------------------------------------------
+
+void BT_GPU_PREF(calcHashAABB)(bt3DGrid3F1U* pAABB, unsigned int* hash,        unsigned int numBodies);
+
+void BT_GPU_PREF(findCellStart)(unsigned int* hash, unsigned int* cellStart, unsigned int numBodies, unsigned int numCells);
+
+void BT_GPU_PREF(findOverlappingPairs)(bt3DGrid3F1U* pAABB, unsigned int* pHash,       unsigned int* pCellStart, unsigned int* pPairBuff, unsigned int*        pPairBuffStartCurr, unsigned int        numBodies);
+
+void BT_GPU_PREF(findPairsLarge)(bt3DGrid3F1U* pAABB, unsigned int* pHash, unsigned int* pCellStart, unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int numBodies, unsigned int numLarge);
+
+void BT_GPU_PREF(computePairCacheChanges)(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan, bt3DGrid3F1U* pAABB, unsigned int numBodies);
+
+void BT_GPU_PREF(squeezeOverlappingPairBuff)(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan, unsigned int* pPairOut, bt3DGrid3F1U* pAABB, unsigned int numBodies);
+
+
+//----------------------------------------------------------------------------------------
+
+} // extern "C"
+
+//----------------------------------------------------------------------------------------
+
+#endif // BTGPU3DGRIDBROADPHASESHAREDDEFS_H
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btGpu3DGridBroadphaseSharedTypes.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btGpu3DGridBroadphaseSharedTypes.h
new file mode 100644 (file)
index 0000000..616a400
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btGpu3DGridBroadphaseSharedTypes.h
@@ -0,0 +1,67 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
+Copyright (C) 2006, 2009 Sony Computer Entertainment Inc. 
+
+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.
+*/
+
+//----------------------------------------------------------------------------------------
+
+// Shared definitions for GPU-based 3D Grid collision detection broadphase
+
+//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+//  Keep this file free from Bullet headers
+//  it is included into both CUDA and CPU code
+//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+//----------------------------------------------------------------------------------------
+
+#ifndef BTGPU3DGRIDBROADPHASESHAREDTYPES_H
+#define BTGPU3DGRIDBROADPHASESHAREDTYPES_H
+
+//----------------------------------------------------------------------------------------
+
+#define BT_3DGRID_PAIR_FOUND_FLG (0x40000000)
+#define BT_3DGRID_PAIR_NEW_FLG   (0x20000000)
+#define BT_3DGRID_PAIR_ANY_FLG   (BT_3DGRID_PAIR_FOUND_FLG | BT_3DGRID_PAIR_NEW_FLG)
+
+//----------------------------------------------------------------------------------------
+
+struct bt3DGridBroadphaseParams 
+{
+       unsigned int    m_gridSizeX;
+       unsigned int    m_gridSizeY;
+       unsigned int    m_gridSizeZ;
+       unsigned int    m_numCells;
+       float                   m_worldOriginX;
+       float                   m_worldOriginY;
+       float                   m_worldOriginZ;
+       float                   m_cellSizeX;
+       float                   m_cellSizeY;
+       float                   m_cellSizeZ;
+       unsigned int    m_numBodies;
+       unsigned int    m_maxBodiesPerCell;
+};
+
+//----------------------------------------------------------------------------------------
+
+struct bt3DGrid3F1U
+{
+       float                   fx;
+       float                   fy;
+       float                   fz;
+       unsigned int    uw;
+};
+
+//----------------------------------------------------------------------------------------
+
+#endif // BTGPU3DGRIDBROADPHASESHAREDTYPES_H
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btGpuDefines.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btGpuDefines.h
new file mode 100644 (file)
index 0000000..f9315ab
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btGpuDefines.h
@@ -0,0 +1,211 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
+Copyright (C) 2006, 2009 Sony Computer Entertainment Inc. 
+
+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.
+*/
+
+
+
+// definitions for "GPU on CPU" code
+
+
+#ifndef BT_GPU_DEFINES_H
+#define BT_GPU_DEFINES_H
+
+typedef unsigned int uint;
+
+struct int2
+{
+       int x, y;
+};
+
+struct uint2
+{
+       unsigned int x, y;
+};
+
+struct int3
+{
+       int x, y, z;
+};
+
+struct uint3
+{
+       unsigned int x, y, z;
+};
+
+struct float4
+{
+       float x, y, z, w;
+};
+
+struct float3
+{
+       float x, y, z;
+};
+
+
+#define BT_GPU___device__ inline
+#define BT_GPU___devdata__
+#define BT_GPU___constant__
+#define BT_GPU_max(a, b) ((a) > (b) ? (a) : (b))
+#define BT_GPU_min(a, b) ((a) < (b) ? (a) : (b))
+#define BT_GPU_params s3DGridBroadphaseParams
+#define BT_GPU___mul24(a, b) ((a)*(b))
+#define BT_GPU___global__ inline
+#define BT_GPU___shared__ static
+#define BT_GPU___syncthreads()
+#define CUDART_PI_F SIMD_PI
+
+static inline uint2 bt3dGrid_make_uint2(unsigned int x, unsigned int y)
+{
+  uint2 t; t.x = x; t.y = y; return t;
+}
+#define BT_GPU_make_uint2(x, y) bt3dGrid_make_uint2(x, y)
+
+static inline int3 bt3dGrid_make_int3(int x, int y, int z)
+{
+  int3 t; t.x = x; t.y = y; t.z = z; return t;
+}
+#define BT_GPU_make_int3(x, y, z) bt3dGrid_make_int3(x, y, z)
+
+static inline float3 bt3dGrid_make_float3(float x, float y, float z)
+{
+  float3 t; t.x = x; t.y = y; t.z = z; return t;
+}
+#define BT_GPU_make_float3(x, y, z) bt3dGrid_make_float3(x, y, z)
+
+static inline float3 bt3dGrid_make_float34(float4 f)
+{
+  float3 t; t.x = f.x; t.y = f.y; t.z = f.z; return t;
+}
+#define BT_GPU_make_float34(f) bt3dGrid_make_float34(f)
+
+static inline float3 bt3dGrid_make_float31(float f)
+{
+  float3 t; t.x = t.y = t.z = f; return t;
+}
+#define BT_GPU_make_float31(x) bt3dGrid_make_float31(x)
+
+static inline float4 bt3dGrid_make_float42(float3 v, float f)
+{
+  float4 t; t.x = v.x; t.y = v.y; t.z = v.z; t.w = f; return t;
+}
+#define BT_GPU_make_float42(a, b) bt3dGrid_make_float42(a, b) 
+
+static inline float4 bt3dGrid_make_float44(float a, float b, float c, float d)
+{
+  float4 t; t.x = a; t.y = b; t.z = c; t.w = d; return t;
+}
+#define BT_GPU_make_float44(a, b, c, d) bt3dGrid_make_float44(a, b, c, d) 
+
+inline int3 operator+(int3 a, int3 b)
+{
+    return bt3dGrid_make_int3(a.x + b.x, a.y + b.y, a.z + b.z);
+}
+
+inline float4 operator+(const float4& a, const float4& b)
+{
+       float4 r; r.x = a.x+b.x; r.y = a.y+b.y; r.z = a.z+b.z; r.w = a.w+b.w; return r;
+}
+inline float4 operator*(const float4& a, float fact)
+{
+       float4 r; r.x = a.x*fact; r.y = a.y*fact; r.z = a.z*fact; r.w = a.w*fact; return r;
+}
+inline float4 operator*(float fact, float4& a)
+{
+       return (a * fact);
+}
+inline float4& operator*=(float4& a, float fact)
+{
+       a = fact * a;
+       return a;
+}
+inline float4& operator+=(float4& a, const float4& b)
+{
+       a = a + b;
+       return a;
+}
+
+inline float3 operator+(const float3& a, const float3& b)
+{
+       float3 r; r.x = a.x+b.x; r.y = a.y+b.y; r.z = a.z+b.z; return r;
+}
+inline float3 operator-(const float3& a, const float3& b)
+{
+       float3 r; r.x = a.x-b.x; r.y = a.y-b.y; r.z = a.z-b.z; return r;
+}
+static inline float bt3dGrid_dot(float3& a, float3& b)
+{
+       return a.x*b.x+a.y*b.y+a.z*b.z;
+}
+#define BT_GPU_dot(a,b) bt3dGrid_dot(a,b)
+
+static inline float bt3dGrid_dot4(float4& a, float4& b)
+{
+       return a.x*b.x+a.y*b.y+a.z*b.z+a.w*b.w;
+}
+#define BT_GPU_dot4(a,b) bt3dGrid_dot4(a,b)
+
+static inline float3 bt3dGrid_cross(const float3& a, const float3& b)
+{
+       float3 r; r.x = a.y*b.z-a.z*b.y; r.y = -a.x*b.z+a.z*b.x; r.z = a.x*b.y-a.y*b.x; return r;
+}
+#define BT_GPU_cross(a,b) bt3dGrid_cross(a,b)
+
+
+inline float3 operator*(const float3& a, float fact)
+{
+       float3 r; r.x = a.x*fact; r.y = a.y*fact; r.z = a.z*fact; return r;
+}
+
+
+inline float3& operator+=(float3& a, const float3& b)
+{
+       a = a + b;
+       return a;
+}
+inline float3& operator-=(float3& a, const float3& b)
+{
+       a = a - b;
+       return a;
+}
+inline float3& operator*=(float3& a, float fact)
+{
+       a = a * fact;
+       return a;
+}
+inline float3 operator-(const float3& v)
+{
+       float3 r; r.x = -v.x; r.y = -v.y; r.z = -v.z; return r;
+}
+
+
+#define BT_GPU_FETCH(a, b) a[b]
+#define BT_GPU_FETCH4(a, b) a[b]
+#define BT_GPU_PREF(func) btGpu_##func
+#define BT_GPU_SAFE_CALL(func) func
+#define BT_GPU_Memset memset
+#define BT_GPU_MemcpyToSymbol(a, b, c) memcpy(&a, b, c)
+#define BT_GPU_BindTexture(a, b, c, d)
+#define BT_GPU_UnbindTexture(a)
+
+static uint2 s_blockIdx, s_blockDim, s_threadIdx;
+#define BT_GPU_blockIdx s_blockIdx
+#define BT_GPU_blockDim s_blockDim
+#define BT_GPU_threadIdx s_threadIdx
+#define BT_GPU_EXECKERNEL(numb, numt, kfunc, args) {s_blockDim.x=numt;for(int nb=0;nb<numb;nb++){s_blockIdx.x=nb;for(int nt=0;nt<numt;nt++){s_threadIdx.x=nt;kfunc args;}}}
+
+#define BT_GPU_CHECK_ERROR(s)
+
+
+#endif //BT_GPU_DEFINES_H

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btGpuUtilsSharedCode.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btGpuUtilsSharedCode.h
new file mode 100644 (file)
index 0000000..5761e79
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btGpuUtilsSharedCode.h
@@ -0,0 +1,55 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
+Copyright (C) 2006, 2009 Sony Computer Entertainment Inc. 
+
+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.
+*/
+
+//----------------------------------------------------------------------------------------
+
+// Shared code for GPU-based utilities
+
+//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+//  Keep this file free from Bullet headers
+//  will be compiled by both CPU and CUDA compilers
+//     file with definitions of BT_GPU_xxx should be included first
+//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+//----------------------------------------------------------------------------------------
+
+#include "btGpuUtilsSharedDefs.h"
+
+//----------------------------------------------------------------------------------------
+
+extern "C"
+{
+
+//----------------------------------------------------------------------------------------
+
+//Round a / b to nearest higher integer value
+int BT_GPU_PREF(iDivUp)(int a, int b)
+{
+    return (a % b != 0) ? (a / b + 1) : (a / b);
+} // iDivUp()
+
+//----------------------------------------------------------------------------------------
+
+// compute grid and thread block size for a given number of elements
+void BT_GPU_PREF(computeGridSize)(int n, int blockSize, int &numBlocks, int &numThreads)
+{
+    numThreads = BT_GPU_min(blockSize, n);
+    numBlocks = BT_GPU_PREF(iDivUp)(n, numThreads);
+} // computeGridSize()
+
+//----------------------------------------------------------------------------------------
+
+} // extern "C"
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btGpuUtilsSharedDefs.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btGpuUtilsSharedDefs.h
new file mode 100644 (file)
index 0000000..dccfda5
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btGpuUtilsSharedDefs.h
@@ -0,0 +1,52 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
+Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. 
+
+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.
+*/
+
+// Shared definitions for GPU-based utilities
+
+//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+//  Keep this file free from Bullet headers
+//  it is included into both CUDA and CPU code
+//     file with definitions of BT_GPU_xxx should be included first
+//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
+
+#ifndef BTGPUUTILSDHAREDDEFS_H
+#define BTGPUUTILSDHAREDDEFS_H
+
+
+extern "C"
+{
+
+
+//Round a / b to nearest higher integer value
+int BT_GPU_PREF(iDivUp)(int a, int b);
+
+// compute grid and thread block size for a given number of elements
+void BT_GPU_PREF(computeGridSize)(int n, int blockSize, int &numBlocks, int &numThreads);
+
+void BT_GPU_PREF(allocateArray)(void** devPtr, unsigned int size);
+void BT_GPU_PREF(freeArray)(void* devPtr);
+void BT_GPU_PREF(copyArrayFromDevice)(void* host, const void* device, unsigned int size);
+void BT_GPU_PREF(copyArrayToDevice)(void* device, const void* host, unsigned int size);
+void BT_GPU_PREF(registerGLBufferObject(unsigned int vbo));
+void* BT_GPU_PREF(mapGLBufferObject(unsigned int vbo));
+void BT_GPU_PREF(unmapGLBufferObject(unsigned int vbo));
+
+
+} // extern "C"
+
+
+#endif // BTGPUUTILSDHAREDDEFS_H
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btParallelConstraintSolver.cpp b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btParallelConstraintSolver.cpp
new file mode 100644 (file)
index 0000000..08d9a2b
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btParallelConstraintSolver.cpp
@@ -0,0 +1,1552 @@
+/*
+   Copyright (C) 2010 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+*/
+
+
+#include "btParallelConstraintSolver.h"
+#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
+#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
+#include "LinearMath/btPoolAllocator.h"
+#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
+#include "BulletMultiThreaded/vectormath2bullet.h"
+
+#include "LinearMath/btQuickprof.h"
+#include "BulletMultiThreaded/btThreadSupportInterface.h"
+#ifdef PFX_USE_FREE_VECTORMATH
+#include "vecmath/vmInclude.h"
+#else
+#include "vectormath/vmInclude.h"
+#endif //PFX_USE_FREE_VECTORMATH
+
+#include "HeapManager.h"
+
+#include "PlatformDefinitions.h"
+
+//#include "PfxSimdUtils.h"
+#include "LinearMath/btScalar.h"
+
+#include "TrbStateVec.h"
+
+
+
+/////////////////
+
+
+#define TMP_BUFF_BYTES (15*1024*1024)
+unsigned char ATTRIBUTE_ALIGNED128(tmp_buff[TMP_BUFF_BYTES]);
+
+
+
+// Project Gauss Seidel or the equivalent Sequential Impulse
+ inline void resolveSingleConstraintRowGeneric(PfxSolverBody& body1,PfxSolverBody& body2,const btSolverConstraint& c)
+{
+
+       btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
+       const btScalar deltaVel1Dotn    =       c.m_contactNormal.dot(getBtVector3(body1.mDeltaLinearVelocity))         + c.m_relpos1CrossNormal.dot(getBtVector3(body1.mDeltaAngularVelocity));
+       const btScalar deltaVel2Dotn    =       -c.m_contactNormal.dot(getBtVector3(body2.mDeltaLinearVelocity)) + c.m_relpos2CrossNormal.dot(getBtVector3(body2.mDeltaAngularVelocity));
+//     const btScalar delta_rel_vel    =       deltaVel1Dotn-deltaVel2Dotn;
+       deltaImpulse    -=      deltaVel1Dotn*c.m_jacDiagABInv;
+       deltaImpulse    -=      deltaVel2Dotn*c.m_jacDiagABInv;
+
+       const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse;
+       if (sum < c.m_lowerLimit)
+       {
+               deltaImpulse = c.m_lowerLimit-c.m_appliedImpulse;
+               c.m_appliedImpulse = c.m_lowerLimit;
+       }
+       else if (sum > c.m_upperLimit) 
+       {
+               deltaImpulse = c.m_upperLimit-c.m_appliedImpulse;
+               c.m_appliedImpulse = c.m_upperLimit;
+       }
+       else
+       {
+               c.m_appliedImpulse = sum;
+       }
+       
+
+       if (body1.mMassInv)
+       {
+               btVector3 linearComponent = c.m_contactNormal*body1.mMassInv;
+               body1.mDeltaLinearVelocity += vmVector3(linearComponent.getX()*deltaImpulse,linearComponent.getY()*deltaImpulse,linearComponent.getZ()*deltaImpulse);
+               btVector3 tmp=c.m_angularComponentA*(btVector3(deltaImpulse,deltaImpulse,deltaImpulse));
+               body1.mDeltaAngularVelocity += vmVector3(tmp.getX(),tmp.getY(),tmp.getZ());
+       }
+
+       if (body2.mMassInv)
+       {
+               btVector3 linearComponent = -c.m_contactNormal*body2.mMassInv;
+               body2.mDeltaLinearVelocity += vmVector3(linearComponent.getX()*deltaImpulse,linearComponent.getY()*deltaImpulse,linearComponent.getZ()*deltaImpulse);
+               btVector3 tmp = c.m_angularComponentB*((btVector3(deltaImpulse,deltaImpulse,deltaImpulse)));//*m_angularFactor);
+               body2.mDeltaAngularVelocity += vmVector3(tmp.getX(),tmp.getY(),tmp.getZ());
+       }
+
+       //body1.internalApplyImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
+       //body2.internalApplyImpulse(-c.m_contactNormal*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
+
+}
+
+ 
+static SIMD_FORCE_INLINE
+void pfxSolveLinearConstraintRow(btConstraintRow &constraint,
+       vmVector3 &deltaLinearVelocityA,vmVector3 &deltaAngularVelocityA,
+       float massInvA,const vmMatrix3 &inertiaInvA,const vmVector3 &rA,
+       vmVector3 &deltaLinearVelocityB,vmVector3 &deltaAngularVelocityB,
+       float massInvB,const vmMatrix3 &inertiaInvB,const vmVector3 &rB)
+{
+       const vmVector3 normal(btReadVector3(constraint.m_normal));
+       btScalar deltaImpulse = constraint.m_rhs;
+       vmVector3 dVA = deltaLinearVelocityA + cross(deltaAngularVelocityA,rA);
+       vmVector3 dVB = deltaLinearVelocityB + cross(deltaAngularVelocityB,rB);
+       deltaImpulse -= constraint.m_jacDiagInv * dot(normal,dVA-dVB);
+       btScalar oldImpulse = constraint.m_accumImpulse;
+       constraint.m_accumImpulse = btClamped(oldImpulse + deltaImpulse,constraint.m_lowerLimit,constraint.m_upperLimit);
+       deltaImpulse = constraint.m_accumImpulse - oldImpulse;
+       deltaLinearVelocityA += deltaImpulse * massInvA * normal;
+       deltaAngularVelocityA += deltaImpulse * inertiaInvA * cross(rA,normal);
+       deltaLinearVelocityB -= deltaImpulse * massInvB * normal;
+       deltaAngularVelocityB -= deltaImpulse * inertiaInvB * cross(rB,normal);
+
+}
+ 
+void btSolveContactConstraint(
+       btConstraintRow &constraintResponse,
+       btConstraintRow &constraintFriction1,
+       btConstraintRow &constraintFriction2,
+       const vmVector3 &contactPointA,
+       const vmVector3 &contactPointB,
+       PfxSolverBody &solverBodyA,
+       PfxSolverBody &solverBodyB,
+       float friction
+       )
+{
+       vmVector3 rA = rotate(solverBodyA.mOrientation,contactPointA);
+       vmVector3 rB = rotate(solverBodyB.mOrientation,contactPointB);
+
+       pfxSolveLinearConstraintRow(constraintResponse,
+               solverBodyA.mDeltaLinearVelocity,solverBodyA.mDeltaAngularVelocity,solverBodyA.mMassInv,solverBodyA.mInertiaInv,rA,
+               solverBodyB.mDeltaLinearVelocity,solverBodyB.mDeltaAngularVelocity,solverBodyB.mMassInv,solverBodyB.mInertiaInv,rB);
+
+       float mf = friction*fabsf(constraintResponse.m_accumImpulse);
+       constraintFriction1.m_lowerLimit = -mf;
+       constraintFriction1.m_upperLimit =  mf;
+       constraintFriction2.m_lowerLimit = -mf;
+       constraintFriction2.m_upperLimit =  mf;
+
+       pfxSolveLinearConstraintRow(constraintFriction1,
+               solverBodyA.mDeltaLinearVelocity,solverBodyA.mDeltaAngularVelocity,solverBodyA.mMassInv,solverBodyA.mInertiaInv,rA,
+               solverBodyB.mDeltaLinearVelocity,solverBodyB.mDeltaAngularVelocity,solverBodyB.mMassInv,solverBodyB.mInertiaInv,rB);
+
+       pfxSolveLinearConstraintRow(constraintFriction2,
+               solverBodyA.mDeltaLinearVelocity,solverBodyA.mDeltaAngularVelocity,solverBodyA.mMassInv,solverBodyA.mInertiaInv,rA,
+               solverBodyB.mDeltaLinearVelocity,solverBodyB.mDeltaAngularVelocity,solverBodyB.mMassInv,solverBodyB.mInertiaInv,rB);
+}
+
+
+void CustomSolveConstraintsTaskParallel(
+       const PfxParallelGroup *contactParallelGroup,const PfxParallelBatch *contactParallelBatches,
+       PfxConstraintPair *contactPairs,uint32_t numContactPairs,
+       btPersistentManifold* offsetContactManifolds,
+       btConstraintRow*        offsetContactConstraintRows,
+       const PfxParallelGroup *jointParallelGroup,const PfxParallelBatch *jointParallelBatches,
+       PfxConstraintPair *jointPairs,uint32_t numJointPairs,
+       btSolverConstraint* offsetSolverConstraints,
+       TrbState *offsetRigStates,
+       PfxSolverBody *offsetSolverBodies,
+       uint32_t numRigidBodies,
+       int iteration,unsigned int taskId,unsigned int numTasks,btBarrier *barrier)
+{
+
+       PfxSolverBody staticBody;
+       staticBody.mMassInv = 0.f;
+       staticBody.mDeltaAngularVelocity=vmVector3(0,0,0);
+       staticBody.mDeltaLinearVelocity =vmVector3(0,0,0);
+
+
+       for(int k=0;k<iteration+1;k++) {
+               // Joint
+               for(uint32_t phaseId=0;phaseId<jointParallelGroup->numPhases;phaseId++) {
+                       for(uint32_t batchId=0;batchId<jointParallelGroup->numBatches[phaseId];batchId++) {
+                               uint32_t numPairs = jointParallelGroup->numPairs[phaseId*PFX_MAX_SOLVER_BATCHES+batchId];
+                               if(batchId%numTasks == taskId && numPairs > 0) {
+                                       const PfxParallelBatch &batch = jointParallelBatches[phaseId*PFX_MAX_SOLVER_BATCHES+batchId];
+                                       for(uint32_t i=0;i<numPairs;i++) {
+                                               PfxConstraintPair &pair = jointPairs[batch.pairIndices[i]];
+                                               uint16_t iA = pfxGetRigidBodyIdA(pair);
+                                               uint16_t iB = pfxGetRigidBodyIdB(pair);
+
+                                               
+                                               PfxSolverBody &solverBodyA = iA != 65535 ? offsetSolverBodies[iA] : staticBody;
+                                               PfxSolverBody &solverBodyB = iB != 65535 ? offsetSolverBodies[iB] : staticBody;
+
+                                               if(k==0) {
+                                                       
+                                               }
+                                               else {
+                                                       btSolverConstraint* constraintRow = &offsetSolverConstraints[pfxGetContactId1(pair)];
+                                                       int numRows = pfxGetNumConstraints(pair);
+                                                       int i;
+                                                       for (i=0;i<numRows;i++)
+                                                       {
+                                                               resolveSingleConstraintRowGeneric(solverBodyA,solverBodyB,constraintRow[i]);
+                                                       }
+                                                       
+                                               }
+                                       }
+                               }
+                       }
+
+                       barrier->sync();
+               }
+
+               // Contact
+               for(uint32_t phaseId=0;phaseId<contactParallelGroup->numPhases;phaseId++) {
+                       for(uint32_t batchId=0;batchId<contactParallelGroup->numBatches[phaseId];batchId++) {
+                               uint32_t numPairs = contactParallelGroup->numPairs[phaseId*PFX_MAX_SOLVER_BATCHES+batchId];
+                               if(batchId%numTasks == taskId && numPairs > 0) {
+                                       const PfxParallelBatch &batch = contactParallelBatches[phaseId*PFX_MAX_SOLVER_BATCHES+batchId];
+                                       for(uint32_t i=0;i<numPairs;i++) {
+                                               PfxConstraintPair &pair = contactPairs[batch.pairIndices[i]];
+                                               uint16_t iA = pfxGetRigidBodyIdA(pair);
+                                               uint16_t iB = pfxGetRigidBodyIdB(pair);
+
+                                               uint32_t contactIndex = pfxGetConstraintId1(pair);
+                                               btPersistentManifold& contact = offsetContactManifolds[contactIndex];
+                                               btConstraintRow* contactConstraintRows = &offsetContactConstraintRows[contactIndex*12];
+
+                                               PfxSolverBody &solverBodyA = offsetSolverBodies[iA];
+                                               PfxSolverBody &solverBodyB = offsetSolverBodies[iB];
+                                               
+                                               for(int j=0;j<contact.getNumContacts();j++) {
+                                                       btManifoldPoint& cp = contact.getContactPoint(j);
+                                                       
+                                                       if(k==0) {
+                                                               vmVector3 rA = rotate(solverBodyA.mOrientation,btReadVector3(cp.m_localPointA));
+                                                               vmVector3 rB = rotate(solverBodyB.mOrientation,btReadVector3(cp.m_localPointB));
+                                                               
+                                                               float imp[3] = 
+                                                               {
+                                                                       cp.m_appliedImpulse,
+                                                                       cp.m_appliedImpulseLateral1,
+                                                                       cp.m_appliedImpulseLateral2
+                                                               };
+                                                               for(int k=0;k<3;k++) 
+                                                               {
+                                                                       vmVector3 normal = btReadVector3(contactConstraintRows[j*3+k].m_normal);
+                                                                       contactConstraintRows[j*3+k].m_accumImpulse = imp[k];
+                                                                       float deltaImpulse = contactConstraintRows[j*3+k].m_accumImpulse;
+                                                                       solverBodyA.mDeltaLinearVelocity += deltaImpulse * solverBodyA.mMassInv * normal;
+                                                                       solverBodyA.mDeltaAngularVelocity += deltaImpulse * solverBodyA.mInertiaInv * cross(rA,normal);
+                                                                       solverBodyB.mDeltaLinearVelocity -= deltaImpulse * solverBodyB.mMassInv * normal;
+                                                                       solverBodyB.mDeltaAngularVelocity -= deltaImpulse * solverBodyB.mInertiaInv * cross(rB,normal);
+                                                               }
+                                                       }
+                                                       else {
+                                                               btSolveContactConstraint(
+                                                                       contactConstraintRows[j*3],
+                                                                       contactConstraintRows[j*3+1],
+                                                                       contactConstraintRows[j*3+2],
+                                                                       btReadVector3(cp.m_localPointA),
+                                                                       btReadVector3(cp.m_localPointB),
+                                                                       solverBodyA,
+                                                                       solverBodyB,
+                                                                       cp.m_combinedFriction
+                                                                       );
+                                                       }
+                                               }
+                                       }
+                               }
+                       }
+
+                       if (barrier)
+                               barrier->sync();
+               }
+       }
+}
+
+void CustomPostSolverTask(
+       TrbState *states,
+       PfxSolverBody *solverBodies,
+       uint32_t numRigidBodies)
+{
+       for(uint32_t i=0;i<numRigidBodies;i++) {
+               TrbState &state = states[i];
+               PfxSolverBody &solverBody = solverBodies[i];
+               state.setLinearVelocity(state.getLinearVelocity()+solverBody.mDeltaLinearVelocity);
+               state.setAngularVelocity(state.getAngularVelocity()+solverBody.mDeltaAngularVelocity);
+       }
+}
+
+void*  SolverlsMemoryFunc()
+{
+       //don't create local store memory, just return 0
+       return 0;
+}
+
+
+static SIMD_FORCE_INLINE
+void pfxGetPlaneSpace(const vmVector3& n, vmVector3& p, vmVector3& q)
+{
+       if(fabsf(n[2]) > 0.707f) {
+               // choose p in y-z plane
+               float a = n[1]*n[1] + n[2]*n[2];
+               float k = 1.0f/sqrtf(a);
+               p[0] = 0;
+               p[1] = -n[2]*k;
+               p[2] = n[1]*k;
+               // set q = n x p
+               q[0] = a*k;
+               q[1] = -n[0]*p[2];
+               q[2] = n[0]*p[1];
+       }
+       else {
+               // choose p in x-y plane
+               float a = n[0]*n[0] + n[1]*n[1];
+               float k = 1.0f/sqrtf(a);
+               p[0] = -n[1]*k;
+               p[1] = n[0]*k;
+               p[2] = 0;
+               // set q = n x p
+               q[0] = -n[2]*p[1];
+               q[1] = n[2]*p[0];
+               q[2] = a*k;
+       }
+}
+
+
+
+#define PFX_CONTACT_SLOP 0.001f
+
+void btSetupContactConstraint(
+       btConstraintRow &constraintResponse,
+       btConstraintRow &constraintFriction1,
+       btConstraintRow &constraintFriction2,
+       float penetrationDepth,
+       float restitution,
+       float friction,
+       const vmVector3 &contactNormal,
+       const vmVector3 &contactPointA,
+       const vmVector3 &contactPointB,
+       const TrbState &stateA,
+       const TrbState &stateB,
+       PfxSolverBody &solverBodyA,
+       PfxSolverBody &solverBodyB,
+       const vmVector3& linVelA, 
+       const vmVector3& angVelA,
+       const vmVector3& linVelB, 
+       const vmVector3& angVelB,
+
+       float separateBias,
+       float timeStep
+       )
+{
+       vmVector3 rA = rotate(solverBodyA.mOrientation,contactPointA);
+       vmVector3 rB = rotate(solverBodyB.mOrientation,contactPointB);
+
+       vmMatrix3 K = vmMatrix3::scale(vmVector3(solverBodyA.mMassInv + solverBodyB.mMassInv)) - 
+                       crossMatrix(rA) * solverBodyA.mInertiaInv * crossMatrix(rA) - 
+                       crossMatrix(rB) * solverBodyB.mInertiaInv * crossMatrix(rB);
+       
+       //use the velocities without the applied (gravity and external) forces for restitution computation
+       vmVector3 vArestitution = linVelA + cross(angVelA,rA);
+       vmVector3 vBrestitution = linVelB + cross(angVelB,rB);
+       vmVector3 vABrestitution = vArestitution-vBrestitution;
+
+       vmVector3 vA = stateA.getLinearVelocity() + cross(stateA.getAngularVelocity(),rA);
+       vmVector3 vB = stateB.getLinearVelocity() + cross(stateB.getAngularVelocity(),rB);
+       vmVector3 vAB = vA-vB;
+
+
+       vmVector3 tangent1,tangent2;
+       btPlaneSpace1(contactNormal,tangent1,tangent2);
+
+//     constraintResponse.m_accumImpulse = 0.f;
+//     constraintFriction1.m_accumImpulse = 0.f;
+//     constraintFriction2.m_accumImpulse = 0.f;
+
+       // Contact Constraint
+       {
+               vmVector3 normal = contactNormal;
+
+               float denom = dot(K*normal,normal);
+
+               constraintResponse.m_rhs = -(1.0f+restitution)*dot(vAB,normal); // velocity error
+               constraintResponse.m_rhs -= (separateBias * btMin(0.0f,penetrationDepth+PFX_CONTACT_SLOP)) / timeStep; // position error
+               constraintResponse.m_rhs /= denom;
+               constraintResponse.m_jacDiagInv = 1.0f/denom;
+               constraintResponse.m_lowerLimit = 0.0f;
+               constraintResponse.m_upperLimit = SIMD_INFINITY;
+               btStoreVector3(normal,constraintResponse.m_normal);
+       }
+
+       // Friction Constraint 1
+       {
+               vmVector3 normal = tangent1;
+
+               float denom = dot(K*normal,normal);
+
+               constraintFriction1.m_jacDiagInv = 1.0f/denom;
+               constraintFriction1.m_rhs = -dot(vAB,normal);
+               constraintFriction1.m_rhs *= constraintFriction1.m_jacDiagInv;
+               constraintFriction1.m_lowerLimit = 0.0f;
+               constraintFriction1.m_upperLimit = SIMD_INFINITY;
+               btStoreVector3(normal,constraintFriction1.m_normal);
+       }
+       
+       // Friction Constraint 2
+       {
+               vmVector3 normal = tangent2;
+
+               float denom = dot(K*normal,normal);
+
+               constraintFriction2.m_jacDiagInv = 1.0f/denom;
+               constraintFriction2.m_rhs = -dot(vAB,normal);
+               constraintFriction2.m_rhs *= constraintFriction2.m_jacDiagInv;
+               constraintFriction2.m_lowerLimit = 0.0f;
+               constraintFriction2.m_upperLimit = SIMD_INFINITY;
+               btStoreVector3(normal,constraintFriction2.m_normal);
+       }
+}
+
+
+void CustomSetupContactConstraintsTask(
+       PfxConstraintPair *contactPairs,uint32_t numContactPairs,
+       btPersistentManifold*   offsetContactManifolds,
+       btConstraintRow* offsetContactConstraintRows,
+       TrbState *offsetRigStates,
+       PfxSolverBody *offsetSolverBodies,
+       uint32_t numRigidBodies,
+       float separateBias,
+       float timeStep)
+{
+       for(uint32_t i=0;i<numContactPairs;i++) {
+               PfxConstraintPair &pair = contactPairs[i];
+               if(!pfxGetActive(pair) || pfxGetNumConstraints(pair) == 0 ||
+                       ((pfxGetMotionMaskA(pair)&PFX_MOTION_MASK_STATIC) && (pfxGetMotionMaskB(pair)&PFX_MOTION_MASK_STATIC)) ) {
+                       continue;
+               }
+
+               uint16_t iA = pfxGetRigidBodyIdA(pair);
+               uint16_t iB = pfxGetRigidBodyIdB(pair);
+
+               int id = pfxGetConstraintId1(pair);
+               btPersistentManifold& contact = offsetContactManifolds[id];
+               btConstraintRow* contactConstraintRows = &offsetContactConstraintRows[id*12];
+
+               TrbState &stateA = offsetRigStates[iA];
+//             PfxRigBody &bodyA = offsetRigBodies[iA];
+               PfxSolverBody &solverBodyA = offsetSolverBodies[iA];
+
+               TrbState &stateB = offsetRigStates[iB];
+//             PfxRigBody &bodyB = offsetRigBodies[iB];
+               PfxSolverBody &solverBodyB = offsetSolverBodies[iB];
+               
+               float restitution = 0.5f * (solverBodyA.restitution + solverBodyB.restitution);
+               //if(contact.getDuration() > 1) restitution = 0.0f;
+               
+               float friction = sqrtf(solverBodyA.friction * solverBodyB.friction);
+
+               for(int j=0;j<contact.getNumContacts();j++) {
+                       btManifoldPoint& cp = contact.getContactPoint(j);
+
+                       //pass the velocities without the applied (gravity and external) forces for restitution computation
+                       const btRigidBody* rbA = btRigidBody::upcast(contact.getBody0());
+                       const btRigidBody* rbB = btRigidBody::upcast(contact.getBody1());
+
+                       btVector3 linVelA, linVelB;
+                       btVector3 angVelA, angVelB;
+                       
+                       if (rbA && (rbA->getInvMass()>0.f))
+                       {
+                               linVelA = rbA->getLinearVelocity();
+                               angVelA = rbA->getAngularVelocity();
+                       } else
+                       {
+                               linVelA.setValue(0,0,0);
+                               angVelA.setValue(0,0,0);
+                       }
+
+                       if (rbB && (rbB->getInvMass()>0.f))
+                       {
+                               linVelB = rbB->getLinearVelocity();
+                               angVelB = rbB->getAngularVelocity();
+                       } else
+                       {
+                               linVelB.setValue(0,0,0);
+                               angVelB.setValue(0,0,0);
+                       }
+
+
+
+                       btSetupContactConstraint(
+                               contactConstraintRows[j*3],
+                               contactConstraintRows[j*3+1],
+                               contactConstraintRows[j*3+2],
+                               cp.getDistance(),
+                               restitution,
+                               friction,
+                               btReadVector3(cp.m_normalWorldOnB),//.mConstraintRow[0].m_normal),
+                               btReadVector3(cp.m_localPointA),
+                               btReadVector3(cp.m_localPointB),
+                               stateA,
+                               stateB,
+                               solverBodyA,
+                               solverBodyB,
+                               (const vmVector3&)linVelA, (const vmVector3&)angVelA,
+                               (const vmVector3&)linVelB, (const vmVector3&)angVelB,
+                               separateBias,
+                               timeStep
+                               );
+               }
+
+               //contact.setCompositeFriction(friction);
+       }
+}
+
+
+void CustomWritebackContactConstraintsTask(
+       PfxConstraintPair *contactPairs,uint32_t numContactPairs,
+       btPersistentManifold*   offsetContactManifolds,
+       btConstraintRow* offsetContactConstraintRows,
+       TrbState *offsetRigStates,
+       PfxSolverBody *offsetSolverBodies,
+       uint32_t numRigidBodies,
+       float separateBias,
+       float timeStep)
+{
+       for(uint32_t i=0;i<numContactPairs;i++) {
+               PfxConstraintPair &pair = contactPairs[i];
+               if(!pfxGetActive(pair) || pfxGetNumConstraints(pair) == 0 ||
+                       ((pfxGetMotionMaskA(pair)&PFX_MOTION_MASK_STATIC) && (pfxGetMotionMaskB(pair)&PFX_MOTION_MASK_STATIC)) ) {
+                       continue;
+               }
+               int id = pfxGetConstraintId1(pair);
+               btPersistentManifold& contact = offsetContactManifolds[id];
+               btConstraintRow* contactConstraintRows = &offsetContactConstraintRows[id*12];
+               for(int j=0;j<contact.getNumContacts();j++) {
+                       btManifoldPoint& cp = contact.getContactPoint(j);
+                       cp.m_appliedImpulse = contactConstraintRows[j*3+0].m_accumImpulse;
+                       cp.m_appliedImpulseLateral1 = contactConstraintRows[j*3+1].m_accumImpulse;
+                       cp.m_appliedImpulseLateral2 = contactConstraintRows[j*3+2].m_accumImpulse;
+               }
+               //contact.setCompositeFriction(friction);
+       }
+}
+
+void   SolverThreadFunc(void* userPtr,void* lsMemory)
+{
+       btConstraintSolverIO* io = (btConstraintSolverIO*)(userPtr);//arg->io);
+       btCriticalSection* criticalsection = io->setupContactConstraints.criticalSection;
+       
+
+       //CustomCriticalSection *criticalsection = &io->m_cs;
+       switch(io->cmd) {
+
+               case PFX_CONSTRAINT_SOLVER_CMD_SOLVE_CONSTRAINTS:
+               CustomSolveConstraintsTaskParallel(
+                       io->solveConstraints.contactParallelGroup,
+                       io->solveConstraints.contactParallelBatches,
+                       io->solveConstraints.contactPairs,
+                       io->solveConstraints.numContactPairs,
+                       io->solveConstraints.offsetContactManifolds,
+                       io->solveConstraints.offsetContactConstraintRows,
+
+                       io->solveConstraints.jointParallelGroup,
+                       io->solveConstraints.jointParallelBatches,
+                       io->solveConstraints.jointPairs,
+                       io->solveConstraints.numJointPairs,
+                       io->solveConstraints.offsetSolverConstraints,
+                       io->solveConstraints.offsetRigStates1,
+                       io->solveConstraints.offsetSolverBodies,
+                       io->solveConstraints.numRigidBodies,
+                       io->solveConstraints.iteration,
+
+                       io->solveConstraints.taskId,
+                       io->maxTasks1,
+                       io->solveConstraints.barrier
+                       );
+               break;
+
+               case PFX_CONSTRAINT_SOLVER_CMD_POST_SOLVER:
+                       CustomPostSolverTask(   io->postSolver.states,io->postSolver.solverBodies,      io->postSolver.numRigidBodies);
+                       break;
+
+
+               case PFX_CONSTRAINT_SOLVER_CMD_SETUP_CONTACT_CONSTRAINTS:
+               {
+                       bool empty = false;
+                       while(!empty) {
+                               int start,batch;
+                               
+                               criticalsection->lock();
+
+                               start = (int)criticalsection->getSharedParam(0);
+                               batch = (int)criticalsection->getSharedParam(1);
+
+                               //PFX_PRINTF("taskId %d start %d num %d\n",arg->taskId,start,batch);
+
+                               // \8e\9f\82Ì\83o\83b\83t\83@\82ð\83Z\83b\83g
+                               int nextStart = start + batch;
+                               int rest = btMax((int)io->setupContactConstraints.numContactPairs1 - nextStart,0);
+                               int nextBatch = (rest > batch)?batch:rest;
+
+                               criticalsection->setSharedParam(0,nextStart);
+                criticalsection->setSharedParam(1,nextBatch);
+
+                               criticalsection->unlock();
+                               
+                               if(batch > 0) {
+                                       CustomSetupContactConstraintsTask(
+                                               io->setupContactConstraints.offsetContactPairs+start,batch,
+                                               io->setupContactConstraints.offsetContactManifolds,
+                                               io->setupContactConstraints.offsetContactConstraintRows,
+                                               io->setupContactConstraints.offsetRigStates,
+//                                             io->setupContactConstraints.offsetRigBodies,
+                                               io->setupContactConstraints.offsetSolverBodies,
+                                               io->setupContactConstraints.numRigidBodies,
+                                               io->setupContactConstraints.separateBias,
+                                               io->setupContactConstraints.timeStep);
+                               }
+                               else {
+                                       empty = true;
+                               }
+                       }
+               }
+               break;
+
+               case PFX_CONSTRAINT_SOLVER_CMD_WRITEBACK_APPLIED_IMPULSES_CONTACT_CONSTRAINTS:
+               {
+                       bool empty = false;
+                       while(!empty) {
+                               int start,batch;
+                               
+                               criticalsection->lock();
+
+                               start = (int)criticalsection->getSharedParam(0);
+                               batch = (int)criticalsection->getSharedParam(1);
+
+                               //PFX_PRINTF("taskId %d start %d num %d\n",arg->taskId,start,batch);
+
+                               // \8e\9f\82Ì\83o\83b\83t\83@\82ð\83Z\83b\83g
+                               int nextStart = start + batch;
+                               int rest = btMax((int)io->setupContactConstraints.numContactPairs1 - nextStart,0);
+                               int nextBatch = (rest > batch)?batch:rest;
+
+                               criticalsection->setSharedParam(0,nextStart);
+                criticalsection->setSharedParam(1,nextBatch);
+
+                               criticalsection->unlock();
+                               
+                               if(batch > 0) {
+                                       CustomWritebackContactConstraintsTask(
+                                               io->setupContactConstraints.offsetContactPairs+start,batch,
+                                               io->setupContactConstraints.offsetContactManifolds,
+                                               io->setupContactConstraints.offsetContactConstraintRows,
+                                               io->setupContactConstraints.offsetRigStates,
+//                                             io->setupContactConstraints.offsetRigBodies,
+                                               io->setupContactConstraints.offsetSolverBodies,
+                                               io->setupContactConstraints.numRigidBodies,
+                                               io->setupContactConstraints.separateBias,
+                                               io->setupContactConstraints.timeStep);
+                               }
+                               else {
+                                       empty = true;
+                               }
+                       }
+               }
+               break;
+
+               default:
+                       {
+                               btAssert(0);
+                       }
+       }
+
+}
+
+
+void CustomSetupContactConstraintsNew(
+       PfxConstraintPair *contactPairs1,uint32_t numContactPairs,
+       btPersistentManifold *offsetContactManifolds,
+       btConstraintRow* offsetContactConstraintRows,
+       TrbState *offsetRigStates,
+       PfxSolverBody *offsetSolverBodies,
+       uint32_t numRigidBodies,
+       float separationBias,
+       float timeStep,
+       class btThreadSupportInterface* threadSupport,
+       btCriticalSection* criticalSection,
+       btConstraintSolverIO *io ,
+       uint8_t cmd
+       )
+{
+       int maxTasks = threadSupport->getNumTasks();
+
+       int div = (int)maxTasks * 4;
+       int batch = ((int)numContactPairs + div - 1) / div;
+#ifdef __PPU__
+               BulletPE2ConstraintSolverSpursSupport* spursThread = (BulletPE2ConstraintSolverSpursSupport*) threadSupport;
+#endif
+       if (criticalSection)
+       {
+               criticalSection->setSharedParam(0,0);
+               criticalSection->setSharedParam(1,btMin(batch,64)); // batched number
+       } else
+       {
+#ifdef __PPU__
+               spursThread->setSharedParam(0,0);
+               spursThread->setSharedParam(1,btMin(batch,64)); // batched number
+#endif //__PPU__
+       }
+
+       for(int t=0;t<maxTasks;t++) {
+               io[t].cmd = cmd;
+               io[t].setupContactConstraints.offsetContactPairs = contactPairs1;
+               io[t].setupContactConstraints.numContactPairs1 = numContactPairs;
+               io[t].setupContactConstraints.offsetRigStates = offsetRigStates;
+               io[t].setupContactConstraints.offsetContactManifolds = offsetContactManifolds;  
+               io[t].setupContactConstraints.offsetContactConstraintRows = offsetContactConstraintRows;
+               io[t].setupContactConstraints.offsetSolverBodies = offsetSolverBodies;
+               io[t].setupContactConstraints.numRigidBodies = numRigidBodies;
+               io[t].setupContactConstraints.separateBias = separationBias;
+               io[t].setupContactConstraints.timeStep = timeStep;
+               io[t].setupContactConstraints.criticalSection = criticalSection;
+               io[t].maxTasks1 = maxTasks;
+#ifdef __PPU__
+               io[t].barrierAddr2 = (unsigned int)spursThread->getBarrierAddress();
+               io[t].criticalsectionAddr2 = (unsigned int)spursThread->getCriticalSectionAddress();
+#endif
+       
+
+//#define SEQUENTIAL_SETUP
+#ifdef SEQUENTIAL_SETUP
+               CustomSetupContactConstraintsTask(contactPairs1,numContactPairs,offsetContactManifolds,offsetRigStates,offsetSolverBodies,numRigidBodies,separationBias,timeStep);
+#else
+               threadSupport->sendRequest(1,(ppu_address_t)&io[t],t);
+#endif
+
+       }
+#ifndef SEQUENTIAL_SETUP
+       unsigned int arg0,arg1;
+       for(int t=0;t<maxTasks;t++) {
+               arg0 = t;
+               threadSupport->waitForResponse(&arg0,&arg1);
+       }
+#endif //SEQUENTIAL_SETUP
+
+}
+
+
+void CustomSplitConstraints(
+       PfxConstraintPair *pairs,uint32_t numPairs,
+       PfxParallelGroup &group,PfxParallelBatch *batches,
+       uint32_t numTasks,
+       uint32_t numRigidBodies,
+       void *poolBuff,
+       uint32_t poolBytes
+       )
+{
+       HeapManager pool((unsigned char*)poolBuff,poolBytes);
+
+       // \83X\83e\81[\83g\83`\83F\83b\83N\97p\83r\83b\83g\83t\83\89\83O\83e\81[\83u\83\8b
+       int bufSize = sizeof(uint8_t)*numRigidBodies;
+       bufSize = ((bufSize+127)>>7)<<7; // 128 bytes alignment
+       uint8_t *bodyTable = (uint8_t*)pool.allocate(bufSize,HeapManager::ALIGN128);
+
+       // \83y\83A\83`\83F\83b\83N\97p\83r\83b\83g\83t\83\89\83O\83e\81[\83u\83\8b
+       uint32_t *pairTable;
+       size_t allocSize = sizeof(uint32_t)*((numPairs+31)/32);
+       pairTable = (uint32_t*)pool.allocate(allocSize);
+       memset(pairTable,0,allocSize);
+
+       // \96Ú\95W\82Æ\82·\82é\95ª\8a\84\90\94
+       uint32_t targetCount = btMax(uint32_t(PFX_MIN_SOLVER_PAIRS),btMin(numPairs / (numTasks*2),uint32_t(PFX_MAX_SOLVER_PAIRS)));
+       uint32_t startIndex = 0;
+       
+       uint32_t phaseId;
+       uint32_t batchId;
+       uint32_t totalCount=0;
+       
+       uint32_t maxBatches = btMin(numTasks,uint32_t(PFX_MAX_SOLVER_BATCHES));
+       
+       for(phaseId=0;phaseId<PFX_MAX_SOLVER_PHASES&&totalCount<numPairs;phaseId++) {
+               bool startIndexCheck = true;
+               
+               group.numBatches[phaseId] = 0;
+               
+               uint32_t i = startIndex;
+               
+        // \83`\83F\83b\83N\97p\83r\83b\83g\83t\83\89\83O\83e\81[\83u\83\8b\82ð\83N\83\8a\83A
+               memset(bodyTable,0xff,bufSize);
+               
+               for(batchId=0;i<numPairs&&totalCount<numPairs&&batchId<maxBatches;batchId++) {
+                       uint32_t pairCount=0;
+                       
+                       PfxParallelBatch &batch = batches[phaseId*PFX_MAX_SOLVER_BATCHES+batchId];
+                       uint32_t pairId = 0;
+                       
+                       for(;i<numPairs&&pairCount<targetCount;i++) {
+                               uint32_t idxP = i>>5;
+                               uint32_t maskP = 1L << (i & 31);
+                               
+                               //pair is already assigned to a phase/batch
+                               if(pairTable[idxP] & maskP) {
+                                       continue;
+                               }
+                               
+                               uint32_t idxA = pfxGetRigidBodyIdA(pairs[i]);
+                               uint32_t idxB = pfxGetRigidBodyIdB(pairs[i]);
+
+                               // \97¼\95û\82Æ\82à\83A\83N\83e\83B\83u\82Å\82È\82¢\81A\82Ü\82½\82Í\8fÕ\93Ë\93_\82ª\82O\82Ì\83y\83A\82Í\93o\98^\91Î\8fÛ\82©\82ç\82Í\82¸\82·
+                               if(!pfxGetActive(pairs[i]) || pfxGetNumConstraints(pairs[i]) == 0 ||
+                                       ((pfxGetMotionMaskA(pairs[i])&PFX_MOTION_MASK_STATIC) && (pfxGetMotionMaskB(pairs[i])&PFX_MOTION_MASK_STATIC)) ) {
+                                       if(startIndexCheck) 
+                                               startIndex++;
+                                       //assign pair -> skip it because it has no constraints
+                                       pairTable[idxP] |= maskP;
+                                       totalCount++;
+                                       continue;
+                               }
+                               
+                               // \88Ë\91¶\90«\82Ì\83`\83F\83b\83N
+                               if( (bodyTable[idxA] != batchId && bodyTable[idxA] != 0xff) || 
+                                       (bodyTable[idxB] != batchId && bodyTable[idxB] != 0xff) ) {
+                                       startIndexCheck = false;
+                                       //bodies of the pair are already assigned to another batch within this phase
+                                       continue;
+                               }
+                               
+                               // \88Ë\91¶\90«\94»\92è\83e\81[\83u\83\8b\82É\93o\98^
+                               if(pfxGetMotionMaskA(pairs[i])&PFX_MOTION_MASK_DYNAMIC) 
+                                               bodyTable[idxA] = batchId;
+                               if(pfxGetMotionMaskB(pairs[i])&PFX_MOTION_MASK_DYNAMIC) 
+                                               bodyTable[idxB] = batchId;
+                               
+                               if(startIndexCheck) 
+                                       startIndex++;
+                               
+                               pairTable[idxP] |= maskP;
+                               //add the pair 'i' to the current batch
+                               batch.pairIndices[pairId++] = i;
+                               pairCount++;
+                       }
+
+                       group.numPairs[phaseId*PFX_MAX_SOLVER_BATCHES+batchId] = (uint16_t)pairId;
+                       totalCount += pairCount;
+               }
+
+               group.numBatches[phaseId] = batchId;
+       }
+
+       group.numPhases = phaseId;
+
+       pool.clear();
+}
+
+
+
+void CustomSolveConstraintsParallel(
+       PfxConstraintPair *contactPairs,uint32_t numContactPairs,
+       
+       PfxConstraintPair *jointPairs,uint32_t numJointPairs,
+       btPersistentManifold* offsetContactManifolds,
+       btConstraintRow* offsetContactConstraintRows,
+       btSolverConstraint* offsetSolverConstraints,
+       TrbState *offsetRigStates,
+       PfxSolverBody *offsetSolverBodies,
+       uint32_t numRigidBodies,
+       struct btConstraintSolverIO* io,
+       class btThreadSupportInterface* threadSupport,
+       int iteration,
+       void* poolBuf,
+       int poolBytes,
+       class btBarrier* barrier)
+       {
+
+       int maxTasks = threadSupport->getNumTasks();
+//     config.taskManager->setTaskEntry(PFX_SOLVER_ENTRY);
+
+       HeapManager pool((unsigned char*)poolBuf,poolBytes);
+
+       {
+               PfxParallelGroup *cgroup = (PfxParallelGroup*)pool.allocate(sizeof(PfxParallelGroup));
+               PfxParallelBatch *cbatches = (PfxParallelBatch*)pool.allocate(sizeof(PfxParallelBatch)*(PFX_MAX_SOLVER_PHASES*PFX_MAX_SOLVER_BATCHES),128);
+               PfxParallelGroup *jgroup = (PfxParallelGroup*)pool.allocate(sizeof(PfxParallelGroup));
+               PfxParallelBatch *jbatches = (PfxParallelBatch*)pool.allocate(sizeof(PfxParallelBatch)*(PFX_MAX_SOLVER_PHASES*PFX_MAX_SOLVER_BATCHES),128);
+               
+               uint32_t tmpBytes = poolBytes - 2 * (sizeof(PfxParallelGroup) + sizeof(PfxParallelBatch)*(PFX_MAX_SOLVER_PHASES*PFX_MAX_SOLVER_BATCHES) + 128);
+               void *tmpBuff = pool.allocate(tmpBytes);
+               
+               {
+                       BT_PROFILE("CustomSplitConstraints");
+                       CustomSplitConstraints(contactPairs,numContactPairs,*cgroup,cbatches,maxTasks,numRigidBodies,tmpBuff,tmpBytes);
+                       CustomSplitConstraints(jointPairs,numJointPairs,*jgroup,jbatches,maxTasks,numRigidBodies,tmpBuff,tmpBytes);
+               }
+
+               {
+                       BT_PROFILE("PFX_CONSTRAINT_SOLVER_CMD_SOLVE_CONSTRAINTS");
+//#define SOLVE_SEQUENTIAL
+#ifdef SOLVE_SEQUENTIAL
+               CustomSolveConstraintsTask(
+                       io->solveConstraints.contactParallelGroup,
+                       io->solveConstraints.contactParallelBatches,
+                       io->solveConstraints.contactPairs,
+                       io->solveConstraints.numContactPairs,
+                       io->solveConstraints.offsetContactManifolds,
+
+                       io->solveConstraints.jointParallelGroup,
+                       io->solveConstraints.jointParallelBatches,
+                       io->solveConstraints.jointPairs,
+                       io->solveConstraints.numJointPairs,
+                       io->solveConstraints.offsetSolverConstraints,
+
+                       io->solveConstraints.offsetRigStates1,
+                       io->solveConstraints.offsetSolverBodies,
+                       io->solveConstraints.numRigidBodies,
+                       io->solveConstraints.iteration,0,1,0);//arg->taskId,1,0);//,arg->maxTasks,arg->barrier);
+#else
+               for(int t=0;t<maxTasks;t++) {
+                       io[t].cmd = PFX_CONSTRAINT_SOLVER_CMD_SOLVE_CONSTRAINTS;
+                       io[t].solveConstraints.contactParallelGroup = cgroup;
+                       io[t].solveConstraints.contactParallelBatches = cbatches;
+                       io[t].solveConstraints.contactPairs = contactPairs;
+                       io[t].solveConstraints.numContactPairs = numContactPairs;
+                       io[t].solveConstraints.offsetContactManifolds = offsetContactManifolds;
+                       io[t].solveConstraints.offsetContactConstraintRows = offsetContactConstraintRows;
+                       io[t].solveConstraints.jointParallelGroup = jgroup;
+                       io[t].solveConstraints.jointParallelBatches = jbatches;
+                       io[t].solveConstraints.jointPairs = jointPairs;
+                       io[t].solveConstraints.numJointPairs = numJointPairs;
+                       io[t].solveConstraints.offsetSolverConstraints = offsetSolverConstraints;
+                       io[t].solveConstraints.offsetRigStates1 = offsetRigStates;
+                       io[t].solveConstraints.offsetSolverBodies = offsetSolverBodies;
+                       io[t].solveConstraints.numRigidBodies = numRigidBodies;
+                       io[t].solveConstraints.iteration = iteration;
+                       io[t].solveConstraints.taskId = t;
+                       io[t].solveConstraints.barrier = barrier;
+
+               io[t].maxTasks1 = maxTasks;
+#ifdef __PPU__
+               BulletPE2ConstraintSolverSpursSupport* spursThread = (BulletPE2ConstraintSolverSpursSupport*) threadSupport;
+               io[t].barrierAddr2 = (unsigned int) spursThread->getBarrierAddress();
+               io[t].criticalsectionAddr2 = (unsigned int)spursThread->getCriticalSectionAddress();
+#endif
+
+                       threadSupport->sendRequest(1,(ppu_address_t)&io[t],t);
+               }
+
+               unsigned int arg0,arg1;
+               for(int t=0;t<maxTasks;t++) {
+                       arg0 = t;
+                       threadSupport->waitForResponse(&arg0,&arg1);
+               }
+#endif
+               }
+               pool.clear();
+       }
+
+       {
+                       BT_PROFILE("PFX_CONSTRAINT_SOLVER_CMD_POST_SOLVER");
+               int batch = ((int)numRigidBodies + maxTasks - 1) / maxTasks;
+               int rest = (int)numRigidBodies;
+               int start = 0;
+
+               for(int t=0;t<maxTasks;t++) {
+                       int num = (rest - batch ) > 0 ? batch : rest;
+                       io[t].cmd = PFX_CONSTRAINT_SOLVER_CMD_POST_SOLVER;
+                       io[t].postSolver.states = offsetRigStates + start;
+                       io[t].postSolver.solverBodies = offsetSolverBodies + start;
+                       io[t].postSolver.numRigidBodies = (uint32_t)num;
+               io[t].maxTasks1 = maxTasks;
+#ifdef __PPU__
+               BulletPE2ConstraintSolverSpursSupport* spursThread = (BulletPE2ConstraintSolverSpursSupport*) threadSupport;
+               io[t].barrierAddr2 = (unsigned int)spursThread->getBarrierAddress();
+               io[t].criticalsectionAddr2 = (unsigned int)spursThread->getCriticalSectionAddress();
+#endif
+
+#ifdef SOLVE_SEQUENTIAL
+                       CustomPostSolverTask(   io[t].postSolver.states,io[t].postSolver.solverBodies,  io[t].postSolver.numRigidBodies);
+#else
+                       threadSupport->sendRequest(1,(ppu_address_t)&io[t],t);
+#endif
+                       rest -= num;
+                       start += num;
+               }
+
+               unsigned int arg0,arg1;
+               for(int t=0;t<maxTasks;t++) {
+#ifndef SOLVE_SEQUENTIAL
+                       arg0 = t;
+                       threadSupport->waitForResponse(&arg0,&arg1);
+#endif
+               }
+       }
+
+}
+
+
+
+void BPE_customConstraintSolverSequentialNew(unsigned int new_num, PfxBroadphasePair *new_pairs1 ,
+                                                                       btPersistentManifold* offsetContactManifolds,
+                                                                       PfxConstraintRow*       offsetContactConstraintRows,
+                                                                         TrbState* states,int numRigidBodies, 
+                                                                         struct PfxSolverBody* solverBodies, 
+                                                                         PfxConstraintPair* jointPairs, unsigned int numJoints,
+                                                                         btSolverConstraint* offsetSolverConstraints,
+                                                                         float separateBias,
+                                                                         float timeStep,
+                                                                         int iteration,
+                                                                         btThreadSupportInterface* solverThreadSupport,
+                                                                         btCriticalSection* criticalSection,
+                                                                         struct btConstraintSolverIO* solverIO,
+                                                                         btBarrier* barrier
+                                                                         )
+{
+
+       {
+               BT_PROFILE("pfxSetupConstraints");
+
+               for(uint32_t i=0;i<numJoints;i++) {
+                       // \8fî\95ñ\82Ì\8dX\90V
+                       PfxConstraintPair &pair = jointPairs[i];
+                       int idA = pfxGetRigidBodyIdA(pair);
+
+                       if (idA != 65535)
+                       {
+                               pfxSetMotionMaskA(pair,states[pfxGetRigidBodyIdA(pair)].getMotionMask());
+                       }
+                       else
+                       {
+                               pfxSetMotionMaskA(pair,PFX_MOTION_MASK_STATIC);
+                       }
+                       int idB = pfxGetRigidBodyIdB(pair);
+                       if (idB!= 65535)
+                       {
+                               pfxSetMotionMaskB(pair,states[pfxGetRigidBodyIdB(pair)].getMotionMask());
+                       } else
+                       {
+                               pfxSetMotionMaskB(pair,PFX_MOTION_MASK_STATIC);
+                       }
+               }
+
+//             CustomSetupJointConstraintsSeq(                 jointPairs,numJoints,joints,                    states,                 solverBodies,                   numRigidBodies,                 timeStep);
+
+#ifdef SEQUENTIAL_SETUP
+               CustomSetupContactConstraintsSeqNew(
+                       (PfxConstraintPair*)new_pairs1,new_num,contacts,
+                       states,
+                       solverBodies,
+                       numRigidBodies,
+                       separateBias,
+                       timeStep);
+#else
+
+               CustomSetupContactConstraintsNew(
+                       (PfxConstraintPair*)new_pairs1,new_num,
+                       offsetContactManifolds,
+                       offsetContactConstraintRows,
+                       states,
+                       solverBodies,
+                       numRigidBodies,
+                       separateBias,
+                       timeStep,
+                       solverThreadSupport,
+                       criticalSection,solverIO,
+                       PFX_CONSTRAINT_SOLVER_CMD_SETUP_CONTACT_CONSTRAINTS
+                       );
+
+#endif //SEQUENTIAL_SETUP
+
+       }
+       {
+               BT_PROFILE("pfxSolveConstraints");
+
+//#define SEQUENTIAL
+#ifdef SEQUENTIAL
+               CustomSolveConstraintsSeq(
+                       (PfxConstraintPair*)new_pairs1,new_num,contacts,
+                       jointPairs,numJoints,
+                       states,
+                       solverBodies,
+                       numRigidBodies,
+                       separateBias,
+                       timeStep,
+                       iteration);
+#else //SEQUENTIAL
+               CustomSolveConstraintsParallel(
+                       (PfxConstraintPair*)new_pairs1,new_num,
+                       jointPairs,numJoints,
+                       offsetContactManifolds,
+                       offsetContactConstraintRows,
+                       offsetSolverConstraints,
+                       states,
+                       solverBodies,
+                       numRigidBodies,
+                       solverIO, solverThreadSupport,
+                       iteration,
+                       tmp_buff,
+                       TMP_BUFF_BYTES,
+                       barrier
+                       );
+
+#endif //SEQUENTIAL
+       }
+
+       {
+               BT_PROFILE("writeback appliedImpulses");
+
+               CustomSetupContactConstraintsNew(
+                       (PfxConstraintPair*)new_pairs1,new_num,
+                       offsetContactManifolds,
+                       offsetContactConstraintRows,
+                       states,
+                       solverBodies,
+                       numRigidBodies,
+                       separateBias,
+                       timeStep,
+                       solverThreadSupport,
+                       criticalSection,solverIO,
+                       PFX_CONSTRAINT_SOLVER_CMD_WRITEBACK_APPLIED_IMPULSES_CONTACT_CONSTRAINTS
+                       );
+       }
+
+}
+
+
+struct btParallelSolverMemoryCache
+{
+       btAlignedObjectArray<TrbState>  m_mystates;
+       btAlignedObjectArray<PfxSolverBody>  m_mysolverbodies;
+       btAlignedObjectArray<PfxBroadphasePair> m_mypairs;
+       btAlignedObjectArray<PfxConstraintPair> m_jointPairs;
+       btAlignedObjectArray<PfxConstraintRow> m_constraintRows;
+       
+};
+
+
+btConstraintSolverIO* createSolverIO(int numThreads)
+{
+       return new btConstraintSolverIO[numThreads];
+}
+
+btParallelConstraintSolver::btParallelConstraintSolver(btThreadSupportInterface* solverThreadSupport)
+{
+       
+       m_solverThreadSupport = solverThreadSupport;//createSolverThreadSupport(maxNumThreads);
+       m_solverIO = createSolverIO(m_solverThreadSupport->getNumTasks());
+
+       m_barrier = m_solverThreadSupport->createBarrier();
+       m_criticalSection = m_solverThreadSupport->createCriticalSection();
+
+       m_memoryCache = new btParallelSolverMemoryCache();
+}
+       
+btParallelConstraintSolver::~btParallelConstraintSolver()
+{
+       delete m_memoryCache;
+       delete m_solverIO;
+       m_solverThreadSupport->deleteBarrier(m_barrier);
+       m_solverThreadSupport->deleteCriticalSection(m_criticalSection);
+}
+
+
+
+btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int numRigidBodies,btPersistentManifold** manifoldPtr,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher)
+{
+       
+/*     int sz = sizeof(PfxSolverBody);
+       int sz2 = sizeof(vmVector3);
+       int sz3 = sizeof(vmMatrix3);
+       int sz4 = sizeof(vmQuat);
+       int sz5 = sizeof(btConstraintRow);
+       int sz6 = sizeof(btSolverConstraint);
+       int sz7 = sizeof(TrbState);
+*/
+
+       btPersistentManifold* offsetContactManifolds= (btPersistentManifold*) dispatcher->getInternalManifoldPool()->getPoolAddress();
+
+               
+       m_memoryCache->m_mysolverbodies.resize(numRigidBodies);
+       m_memoryCache->m_mystates.resize(numRigidBodies);
+
+       {
+                       BT_PROFILE("create states and solver bodies");
+       for (int i=0;i<numRigidBodies;i++)
+       {
+               btCollisionObject* obj = bodies1[i];
+               obj->setCompanionId(i);
+
+               PfxSolverBody& solverBody = m_memoryCache->m_mysolverbodies[i];
+               btRigidBody* rb = btRigidBody::upcast(obj);
+               TrbState& state = m_memoryCache->m_mystates[i];
+       
+               state.reset();
+               const btQuaternion& orgOri = obj->getWorldTransform().getRotation();
+               vmQuat orn(orgOri.getX(),orgOri.getY(),orgOri.getZ(),orgOri.getW());
+               state.setPosition(getVmVector3(obj->getWorldTransform().getOrigin()));
+               state.setOrientation(orn);
+               state.setPosition(state.getPosition());
+               state.setRigidBodyId(i);
+               state.setAngularDamping(0);
+               state.setLinearDamping(0);
+               
+               
+               solverBody.mOrientation = state.getOrientation();
+               solverBody.mDeltaLinearVelocity = vmVector3(0.0f);
+               solverBody.mDeltaAngularVelocity = vmVector3(0.0f);
+               solverBody.friction = obj->getFriction();
+               solverBody.restitution = obj->getRestitution();
+               
+               state.resetSleepCount();
+               
+               //if(state.getMotionMask()&PFX_MOTION_MASK_DYNAMIC) {
+               if (rb && (rb->getInvMass()>0.f))
+               {
+                       btVector3 angVelPlusForces = rb->getAngularVelocity()+rb->getTotalTorque()*rb->getInvInertiaTensorWorld()*infoGlobal.m_timeStep;
+                       btVector3 linVelPlusForces = rb->getLinearVelocity()+rb->getTotalForce()*rb->getInvMass()*infoGlobal.m_timeStep;
+
+                       state.setAngularVelocity((const vmVector3&)angVelPlusForces);
+                       state.setLinearVelocity((const vmVector3&) linVelPlusForces);
+
+                       state.setMotionType(PfxMotionTypeActive);
+                       vmMatrix3 ori(solverBody.mOrientation);
+                       vmMatrix3 localInvInertia = vmMatrix3::identity();
+                       localInvInertia.setCol(0,vmVector3(rb->getInvInertiaDiagLocal().getX(),0,0));
+                       localInvInertia.setCol(1,vmVector3(0, rb->getInvInertiaDiagLocal().getY(),0));
+                       localInvInertia.setCol(2,vmVector3(0,0, rb->getInvInertiaDiagLocal().getZ()));
+
+                       solverBody.mMassInv = rb->getInvMass();
+                       solverBody.mInertiaInv = ori * localInvInertia * transpose(ori);
+               } else
+               {
+                       state.setAngularVelocity(vmVector3(0));
+                       state.setLinearVelocity(vmVector3(0));
+               
+                       state.setMotionType(PfxMotionTypeFixed);
+                       m_memoryCache->m_mysolverbodies[i].mMassInv = 0.f;
+                       m_memoryCache->m_mysolverbodies[i].mInertiaInv = vmMatrix3(0.0f);
+               }
+
+       }
+       }
+
+
+
+       int totalPoints = 0;
+#ifndef USE_C_ARRAYS
+       m_memoryCache->m_mypairs.resize(numManifolds);
+       //4 points per manifold and 3 rows per point makes 12 rows per manifold
+       m_memoryCache->m_constraintRows.resize(numManifolds*12);
+       m_memoryCache->m_jointPairs.resize(numConstraints);
+#endif//USE_C_ARRAYS
+
+       int actualNumManifolds= 0;
+       {
+               BT_PROFILE("convert manifolds");
+               for (int i1=0;i1<numManifolds;i1++)
+               {
+                       if (manifoldPtr[i1]->getNumContacts()>0)
+                       {
+                               btPersistentManifold* m = manifoldPtr[i1];
+                               btCollisionObject* obA = (btCollisionObject*)m->getBody0();
+                               btCollisionObject* obB = (btCollisionObject*)m->getBody1();
+                               bool obAisActive = !obA->isStaticOrKinematicObject() && obA->isActive();
+                               bool obBisActive = !obB->isStaticOrKinematicObject() && obB->isActive();
+
+                               if (!obAisActive && !obBisActive)
+                                       continue;
+
+
+                               //int contactId = i1;//actualNumManifolds;
+                               
+                               PfxBroadphasePair& pair = m_memoryCache->m_mypairs[actualNumManifolds];
+                               //init those
+               //              float compFric = obA->getFriction()*obB->getFriction();//@todo
+                               int idA = obA->getCompanionId();
+                               int idB = obB->getCompanionId();
+                               
+                               m->m_companionIdA = idA;
+                               m->m_companionIdB = idB;
+                               
+                               
+                       //      if ((mysolverbodies[idA].mMassInv!=0)&&(mysolverbodies[idB].mMassInv!=0))
+                       //              continue;
+                               int numPosPoints=0;
+                               for (int p=0;p<m->getNumContacts();p++)
+                               {
+                                       //btManifoldPoint& pt = m->getContactPoint(p);
+                                       //float dist = pt.getDistance();
+                                       //if (dist<0.001)
+                                               numPosPoints++;
+                               }
+
+                               
+                               totalPoints+=numPosPoints;
+                               pfxSetRigidBodyIdA(pair,idA);
+                               pfxSetRigidBodyIdB(pair,idB);
+                               pfxSetMotionMaskA(pair,m_memoryCache->m_mystates[idA].getMotionMask());
+                               pfxSetMotionMaskB(pair,m_memoryCache->m_mystates[idB].getMotionMask());
+                               pfxSetActive(pair,numPosPoints>0);
+                               
+                               pfxSetBroadphaseFlag(pair,0);
+                               int contactId = m-offsetContactManifolds;
+                               //likely the contact pool is not contiguous, make sure to allocate large enough contact pool
+                               btAssert(contactId>=0);
+                               btAssert(contactId<dispatcher->getInternalManifoldPool()->getMaxCount());
+                               
+                               pfxSetContactId(pair,contactId);
+                               pfxSetNumConstraints(pair,numPosPoints);//manifoldPtr[i]->getNumContacts());
+                               actualNumManifolds++;
+                       }
+
+               }
+       }
+
+       PfxConstraintPair* jointPairs=0;
+       jointPairs = numConstraints? &m_memoryCache->m_jointPairs[0]:0;
+       int actualNumJoints=0;
+
+
+       btSolverConstraint* offsetSolverConstraints = 0;
+
+       //if (1)
+       {
+               
+               {
+                       BT_PROFILE("convert constraints");
+
+                       int totalNumRows = 0;
+                       int i;
+                       
+                       m_tmpConstraintSizesPool.resize(numConstraints);
+                       //calculate the total number of contraint rows
+                       for (i=0;i<numConstraints;i++)
+                       {
+                               btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
+                               constraints[i]->getInfo1(&info1);
+                               totalNumRows += info1.m_numConstraintRows;
+                       }
+                       m_tmpSolverNonContactConstraintPool.resize(totalNumRows);
+                       offsetSolverConstraints =totalNumRows? &m_tmpSolverNonContactConstraintPool[0]:0;
+
+                       
+                       ///setup the btSolverConstraints
+                       int currentRow = 0;
+
+                       for (i=0;i<numConstraints;i++)
+                       {
+                               const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
+                               
+                               if (info1.m_numConstraintRows)
+                               {
+                                       btAssert(currentRow<totalNumRows);
+                                       btTypedConstraint* constraint = constraints[i];
+                                       btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow];
+
+                                       btRigidBody& rbA = constraint->getRigidBodyA();
+                                       btRigidBody& rbB = constraint->getRigidBodyB();
+                       
+                                       int idA = constraint->getRigidBodyA().getCompanionId();
+                                       int idB = constraint->getRigidBodyB().getCompanionId();
+                       
+                                       
+                                       int j;
+                                       for ( j=0;j<info1.m_numConstraintRows;j++)
+                                       {
+                                               memset(&currentConstraintRow[j],0,sizeof(btSolverConstraint));
+                                               currentConstraintRow[j].m_lowerLimit = -FLT_MAX;
+                                               currentConstraintRow[j].m_upperLimit = FLT_MAX;
+                                               currentConstraintRow[j].m_appliedImpulse = 0.f;
+                                               currentConstraintRow[j].m_appliedPushImpulse = 0.f;
+                                               currentConstraintRow[j].m_solverBodyIdA = idA;
+                                               currentConstraintRow[j].m_solverBodyIdB = idB;
+                                       }
+
+                               
+
+
+
+                                       btTypedConstraint::btConstraintInfo2 info2;
+                                       info2.fps = 1.f/infoGlobal.m_timeStep;
+                                       info2.erp = infoGlobal.m_erp;
+                                       info2.m_J1linearAxis = currentConstraintRow->m_contactNormal;
+                                       info2.m_J1angularAxis = currentConstraintRow->m_relpos1CrossNormal;
+                                       info2.m_J2linearAxis = 0;
+                                       info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal;
+                                       info2.rowskip = sizeof(btSolverConstraint)/sizeof(btScalar);//check this
+                                       ///the size of btSolverConstraint needs be a multiple of btScalar
+                                       btAssert(info2.rowskip*sizeof(btScalar)== sizeof(btSolverConstraint));
+                                       info2.m_constraintError = &currentConstraintRow->m_rhs;
+                                       currentConstraintRow->m_cfm = infoGlobal.m_globalCfm;
+                                       info2.cfm = &currentConstraintRow->m_cfm;
+                                       info2.m_lowerLimit = &currentConstraintRow->m_lowerLimit;
+                                       info2.m_upperLimit = &currentConstraintRow->m_upperLimit;
+                                       info2.m_numIterations = infoGlobal.m_numIterations;
+                                       constraints[i]->getInfo2(&info2);
+
+                                       
+                               
+
+                                       ///finalize the constraint setup
+                                       for ( j=0;j<info1.m_numConstraintRows;j++)
+                                       {
+                                               btSolverConstraint& solverConstraint = currentConstraintRow[j];
+                                               solverConstraint.m_originalContactPoint = constraint;
+
+                                               solverConstraint.m_solverBodyIdA = idA;
+                                               solverConstraint.m_solverBodyIdB = idB;
+
+                                               {
+                                                       const btVector3& ftorqueAxis1 = solverConstraint.m_relpos1CrossNormal;
+                                                       solverConstraint.m_angularComponentA = constraint->getRigidBodyA().getInvInertiaTensorWorld()*ftorqueAxis1*constraint->getRigidBodyA().getAngularFactor();
+                                               }
+                                               {
+                                                       const btVector3& ftorqueAxis2 = solverConstraint.m_relpos2CrossNormal;
+                                                       solverConstraint.m_angularComponentB = constraint->getRigidBodyB().getInvInertiaTensorWorld()*ftorqueAxis2*constraint->getRigidBodyB().getAngularFactor();
+                                               }
+
+                                               {
+                                                       btVector3 iMJlA = solverConstraint.m_contactNormal*rbA.getInvMass();
+                                                       btVector3 iMJaA = rbA.getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal;
+                                                       btVector3 iMJlB = solverConstraint.m_contactNormal*rbB.getInvMass();//sign of normal?
+                                                       btVector3 iMJaB = rbB.getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal;
+
+                                                       btScalar sum = iMJlA.dot(solverConstraint.m_contactNormal);
+                                                       sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
+                                                       sum += iMJlB.dot(solverConstraint.m_contactNormal);
+                                                       sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
+
+                                                       solverConstraint.m_jacDiagABInv = btScalar(1.)/sum;
+                                               }
+
+
+                                               ///fix rhs
+                                               ///todo: add force/torque accelerators
+                                               {
+                                                       btScalar rel_vel;
+                                                       btScalar vel1Dotn = solverConstraint.m_contactNormal.dot(rbA.getLinearVelocity()) + solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity());
+                                                       btScalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rbB.getLinearVelocity()) + solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity());
+
+                                                       rel_vel = vel1Dotn+vel2Dotn;
+
+                                                       btScalar restitution = 0.f;
+                                                       btScalar positionalError = solverConstraint.m_rhs;//already filled in by getConstraintInfo2
+                                                       btScalar        velocityError = restitution - rel_vel;// * damping;
+                                                       btScalar        penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
+                                                       btScalar        velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv;
+                                                       solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
+                                                       solverConstraint.m_appliedImpulse = 0.f;
+
+                                               }
+                                       }
+
+                                       PfxConstraintPair& pair = jointPairs[actualNumJoints];
+                                       
+                                       int numConstraintRows= info1.m_numConstraintRows;
+                                       pfxSetNumConstraints(pair,numConstraintRows);
+                                       
+
+
+                                       pfxSetRigidBodyIdA(pair,idA);
+                                       pfxSetRigidBodyIdB(pair,idB);
+                                       //is this needed?
+                                       if (idA>=0)
+                                               pfxSetMotionMaskA(pair,m_memoryCache->m_mystates[idA].getMotionMask());
+                                       if (idB>=0)
+                                               pfxSetMotionMaskB(pair,m_memoryCache->m_mystates[idB].getMotionMask());
+
+                                       pfxSetActive(pair,true);
+                                       int id = currentConstraintRow-offsetSolverConstraints;
+                                       pfxSetContactId(pair,id);
+                                       actualNumJoints++;
+
+
+                               }
+                               currentRow+=m_tmpConstraintSizesPool[i].m_numConstraintRows;
+                       }
+               }
+       }
+
+
+       
+       float separateBias=0.1;//info.m_erp;//or m_erp2?
+       float timeStep=infoGlobal.m_timeStep;
+       int iteration=infoGlobal.m_numIterations;
+
+       //create a pair for each constraints, copy over info etc
+       
+       
+
+
+       
+       {
+               BT_PROFILE("compute num contacts");
+               int totalContacts =0;
+
+               for (int i=0;i<actualNumManifolds;i++)
+               {
+                       PfxConstraintPair* pair = &m_memoryCache->m_mypairs[i];
+                       totalContacts += pfxGetNumConstraints(*pair);
+               }
+               //printf("numManifolds = %d\n",numManifolds);
+               //printf("totalContacts=%d\n",totalContacts);
+       }
+       
+
+
+//     printf("actualNumManifolds=%d\n",actualNumManifolds);
+       {
+               BT_PROFILE("BPE_customConstraintSolverSequentialNew");
+               if (numRigidBodies>0 && (actualNumManifolds+actualNumJoints)>0)
+               {
+//                     PFX_PRINTF("num points = %d\n",totalPoints);
+//                     PFX_PRINTF("num points PFX = %d\n",total);
+                       
+                       
+                       PfxConstraintRow* contactRows = actualNumManifolds? &m_memoryCache->m_constraintRows[0] : 0;
+                        PfxBroadphasePair* actualPairs = m_memoryCache->m_mypairs.size() ? &m_memoryCache->m_mypairs[0] : 0;
+                       BPE_customConstraintSolverSequentialNew(
+                               actualNumManifolds,
+                               actualPairs,
+                               offsetContactManifolds,
+                               contactRows,
+                               &m_memoryCache->m_mystates[0],numRigidBodies,
+                               &m_memoryCache->m_mysolverbodies[0],
+                               jointPairs,actualNumJoints,
+                               offsetSolverConstraints,
+                               separateBias,timeStep,iteration,
+                               m_solverThreadSupport,m_criticalSection,m_solverIO,m_barrier);
+               }
+       }
+
+       //copy results back to bodies
+       {
+               BT_PROFILE("copy back");
+               for (int i=0;i<numRigidBodies;i++)
+               {
+                       btCollisionObject* obj = bodies1[i];
+                       btRigidBody* rb = btRigidBody::upcast(obj);
+                       TrbState& state = m_memoryCache->m_mystates[i];
+                       if (rb && (rb->getInvMass()>0.f))
+                       {
+                               rb->setLinearVelocity(btVector3(state.getLinearVelocity().getX(),state.getLinearVelocity().getY(),state.getLinearVelocity().getZ()));
+                               rb->setAngularVelocity(btVector3(state.getAngularVelocity().getX(),state.getAngularVelocity().getY(),state.getAngularVelocity().getZ()));
+                       }
+               }
+       }
+
+
+       return 0.f;
+}

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btParallelConstraintSolver.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btParallelConstraintSolver.h
new file mode 100644 (file)
index 0000000..af42a83
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btParallelConstraintSolver.h
@@ -0,0 +1,288 @@
+/*
+   Copyright (C) 2010 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+*/
+
+#ifndef __BT_PARALLEL_CONSTRAINT_SOLVER_H
+#define __BT_PARALLEL_CONSTRAINT_SOLVER_H
+
+#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
+
+
+
+
+#include "LinearMath/btScalar.h"
+#include "PlatformDefinitions.h"
+
+
+#define PFX_MAX_SOLVER_PHASES 64
+#define PFX_MAX_SOLVER_BATCHES 16
+#define PFX_MAX_SOLVER_PAIRS  128
+#define PFX_MIN_SOLVER_PAIRS  16
+
+#ifdef __CELLOS_LV2__
+ATTRIBUTE_ALIGNED128(struct) PfxParallelBatch {
+#else
+ATTRIBUTE_ALIGNED16(struct) PfxParallelBatch {
+#endif
+       uint16_t pairIndices[PFX_MAX_SOLVER_PAIRS];
+};
+
+#ifdef __CELLOS_LV2__
+ATTRIBUTE_ALIGNED128(struct) PfxParallelGroup {
+#else
+ATTRIBUTE_ALIGNED16(struct) PfxParallelGroup {
+#endif
+       uint16_t numPhases;
+       uint16_t numBatches[PFX_MAX_SOLVER_PHASES];
+       uint16_t numPairs[PFX_MAX_SOLVER_PHASES*PFX_MAX_SOLVER_BATCHES];
+};
+
+
+
+ATTRIBUTE_ALIGNED16(struct) PfxSortData16 {
+       union {
+               uint8_t   i8data[16];
+               uint16_t  i16data[8];
+               uint32_t  i32data[4];
+#ifdef __SPU__
+               vec_uint4 vdata;
+#endif
+       };
+
+#ifdef __SPU__
+       void set8(int elem,uint8_t data)   {vdata=(vec_uint4)spu_insert(data,(vec_uchar16)vdata,elem);}
+       void set16(int elem,uint16_t data) {vdata=(vec_uint4)spu_insert(data,(vec_ushort8)vdata,elem);}
+       void set32(int elem,uint32_t data) {vdata=(vec_uint4)spu_insert(data,(vec_uint4)vdata,elem);}
+       uint8_t get8(int elem)   const {return spu_extract((vec_uchar16)vdata,elem);}
+       uint16_t get16(int elem) const {return spu_extract((vec_ushort8)vdata,elem);}
+       uint32_t get32(int elem) const {return spu_extract((vec_uint4)vdata,elem);}
+#else
+       void set8(int elem,uint8_t data)   {i8data[elem] = data;}
+       void set16(int elem,uint16_t data) {i16data[elem] = data;}
+       void set32(int elem,uint32_t data) {i32data[elem] = data;}
+       uint8_t get8(int elem)   const {return i8data[elem];}
+       uint16_t get16(int elem) const {return i16data[elem];}
+       uint32_t get32(int elem) const {return i32data[elem];}
+#endif
+};
+
+typedef PfxSortData16 PfxConstraintPair;
+
+
+//J    PfxBroadphasePair\82Æ\8b¤\92Ê
+
+SIMD_FORCE_INLINE void pfxSetConstraintId(PfxConstraintPair &pair,uint32_t i)  {pair.set32(2,i);}
+SIMD_FORCE_INLINE void pfxSetNumConstraints(PfxConstraintPair &pair,uint8_t n) {pair.set8(7,n);}
+
+SIMD_FORCE_INLINE uint32_t pfxGetConstraintId1(const PfxConstraintPair &pair)  {return pair.get32(2);}
+SIMD_FORCE_INLINE uint8_t  pfxGetNumConstraints(const PfxConstraintPair &pair) {return pair.get8(7);}
+
+typedef PfxSortData16 PfxBroadphasePair;
+
+SIMD_FORCE_INLINE void pfxSetRigidBodyIdA(PfxBroadphasePair &pair,uint16_t i)  {pair.set16(0,i);}
+SIMD_FORCE_INLINE void pfxSetRigidBodyIdB(PfxBroadphasePair &pair,uint16_t i)  {pair.set16(1,i);}
+SIMD_FORCE_INLINE void pfxSetMotionMaskA(PfxBroadphasePair &pair,uint8_t i)            {pair.set8(4,i);}
+SIMD_FORCE_INLINE void pfxSetMotionMaskB(PfxBroadphasePair &pair,uint8_t i)            {pair.set8(5,i);}
+SIMD_FORCE_INLINE void pfxSetBroadphaseFlag(PfxBroadphasePair &pair,uint8_t f) {pair.set8(6,(pair.get8(6)&0xf0)|(f&0x0f));}
+SIMD_FORCE_INLINE void pfxSetActive(PfxBroadphasePair &pair,bool b)                    {pair.set8(6,(pair.get8(6)&0x0f)|((b?1:0)<<4));}
+SIMD_FORCE_INLINE void pfxSetContactId(PfxBroadphasePair &pair,uint32_t i)             {pair.set32(2,i);}
+
+SIMD_FORCE_INLINE uint16_t pfxGetRigidBodyIdA(const PfxBroadphasePair &pair)   {return pair.get16(0);}
+SIMD_FORCE_INLINE uint16_t pfxGetRigidBodyIdB(const PfxBroadphasePair &pair)   {return pair.get16(1);}
+SIMD_FORCE_INLINE uint8_t  pfxGetMotionMaskA(const PfxBroadphasePair &pair)            {return pair.get8(4);}
+SIMD_FORCE_INLINE uint8_t  pfxGetMotionMaskB(const PfxBroadphasePair &pair)            {return pair.get8(5);}
+SIMD_FORCE_INLINE uint8_t  pfxGetBroadphaseFlag(const PfxBroadphasePair &pair) {return pair.get8(6)&0x0f;}
+SIMD_FORCE_INLINE bool     pfxGetActive(const PfxBroadphasePair &pair)                 {return (pair.get8(6)>>4)!=0;}
+SIMD_FORCE_INLINE uint32_t pfxGetContactId1(const PfxBroadphasePair &pair)             {return pair.get32(2);}
+
+
+
+#if defined(__PPU__) || defined (__SPU__)
+ATTRIBUTE_ALIGNED128(struct) PfxSolverBody {
+#else
+ATTRIBUTE_ALIGNED16(struct) PfxSolverBody {
+#endif
+       vmVector3 mDeltaLinearVelocity;
+       vmVector3 mDeltaAngularVelocity;
+       vmMatrix3 mInertiaInv;
+       vmQuat    mOrientation;
+       float   mMassInv;
+       float   friction;
+       float   restitution;
+       float   unused;
+       float   unused2;
+       float   unused3;
+       float   unused4;
+       float   unused5;
+};
+
+
+#ifdef __PPU__
+#include "SpuDispatch/BulletPE2ConstraintSolverSpursSupport.h"
+#endif
+
+static SIMD_FORCE_INLINE vmVector3 btReadVector3(const double* p)
+{
+       float tmp[3] = {float(p[0]),float(p[1]),float(p[2])};
+       vmVector3 v;
+       loadXYZ(v, tmp);
+       return v;
+}
+
+static SIMD_FORCE_INLINE vmQuat btReadQuat(const double* p)
+{
+       float tmp[4] = {float(p[0]),float(p[1]),float(p[2]),float(p[4])};
+       vmQuat vq;
+       loadXYZW(vq, tmp);
+       return vq;
+}
+
+static SIMD_FORCE_INLINE void btStoreVector3(const vmVector3 &src, double* p)
+{
+       float tmp[3];
+       vmVector3 v = src;
+       storeXYZ(v, tmp);
+       p[0] = tmp[0];
+       p[1] = tmp[1];
+       p[2] = tmp[2];
+}
+
+
+static SIMD_FORCE_INLINE vmVector3 btReadVector3(const float* p)
+{
+       vmVector3 v;
+       loadXYZ(v, p);
+       return v;
+}
+
+static SIMD_FORCE_INLINE vmQuat btReadQuat(const float* p)
+{
+       vmQuat vq;
+       loadXYZW(vq, p);
+       return vq;
+}
+
+static SIMD_FORCE_INLINE void btStoreVector3(const vmVector3 &src, float* p)
+{
+       vmVector3 v = src;
+       storeXYZ(v, p);
+}
+
+
+
+
+class btPersistentManifold;
+
+enum {
+       PFX_CONSTRAINT_SOLVER_CMD_SETUP_SOLVER_BODIES,
+       PFX_CONSTRAINT_SOLVER_CMD_SETUP_CONTACT_CONSTRAINTS,
+       PFX_CONSTRAINT_SOLVER_CMD_WRITEBACK_APPLIED_IMPULSES_CONTACT_CONSTRAINTS,
+       PFX_CONSTRAINT_SOLVER_CMD_SETUP_JOINT_CONSTRAINTS,
+       PFX_CONSTRAINT_SOLVER_CMD_SOLVE_CONSTRAINTS,
+       PFX_CONSTRAINT_SOLVER_CMD_POST_SOLVER
+};
+
+
+struct PfxSetupContactConstraintsIO {
+       PfxConstraintPair *offsetContactPairs;
+       uint32_t numContactPairs1;
+       btPersistentManifold*   offsetContactManifolds;
+       btConstraintRow* offsetContactConstraintRows;
+       class TrbState *offsetRigStates;
+       struct PfxSolverBody *offsetSolverBodies;
+       uint32_t numRigidBodies;
+       float separateBias;
+       float timeStep;
+       class btCriticalSection* criticalSection;
+};
+
+
+
+struct PfxSolveConstraintsIO {
+       PfxParallelGroup *contactParallelGroup;
+       PfxParallelBatch *contactParallelBatches;
+       PfxConstraintPair *contactPairs;
+       uint32_t numContactPairs;
+       btPersistentManifold *offsetContactManifolds;
+       btConstraintRow*        offsetContactConstraintRows;
+       PfxParallelGroup *jointParallelGroup;
+       PfxParallelBatch *jointParallelBatches;
+       PfxConstraintPair *jointPairs;
+       uint32_t numJointPairs;
+       struct btSolverConstraint* offsetSolverConstraints;
+       TrbState *offsetRigStates1;
+       PfxSolverBody *offsetSolverBodies;
+       uint32_t numRigidBodies;
+       uint32_t iteration;
+
+       uint32_t        taskId;
+       
+       class btBarrier* barrier;
+
+};
+
+struct PfxPostSolverIO {
+       TrbState *states;
+       PfxSolverBody *solverBodies;
+       uint32_t numRigidBodies;
+};
+
+ATTRIBUTE_ALIGNED16(struct) btConstraintSolverIO {
+       uint8_t cmd;
+       union {
+               PfxSetupContactConstraintsIO setupContactConstraints;
+               PfxSolveConstraintsIO solveConstraints;
+               PfxPostSolverIO postSolver;
+       };
+       
+       //SPU only
+       uint32_t barrierAddr2;
+       uint32_t criticalsectionAddr2;
+       uint32_t maxTasks1;
+};
+
+
+
+
+void   SolverThreadFunc(void* userPtr,void* lsMemory);
+void*  SolverlsMemoryFunc();
+///The btParallelConstraintSolver performs computations on constraint rows in parallel
+///Using the cross-platform threading it supports Windows, Linux, Mac OSX and PlayStation 3 Cell SPUs
+class btParallelConstraintSolver : public btSequentialImpulseConstraintSolver
+{
+       
+protected:
+       struct btParallelSolverMemoryCache*     m_memoryCache;
+
+       class btThreadSupportInterface* m_solverThreadSupport;
+
+       struct btConstraintSolverIO* m_solverIO;
+       class btBarrier*                        m_barrier;
+       class btCriticalSection*        m_criticalSection;
+
+
+public:
+
+       btParallelConstraintSolver(class btThreadSupportInterface* solverThreadSupport);
+       
+       virtual ~btParallelConstraintSolver();
+
+       virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
+
+};
+
+
+
+#endif //__BT_PARALLEL_CONSTRAINT_SOLVER_H
\ No newline at end of file

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btThreadSupportInterface.cpp b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btThreadSupportInterface.cpp
new file mode 100644 (file)
index 0000000..8192aa4
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btThreadSupportInterface.cpp
@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "btThreadSupportInterface.h"
+
+btThreadSupportInterface::~btThreadSupportInterface()
+{
+
+}
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btThreadSupportInterface.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btThreadSupportInterface.h
new file mode 100644 (file)
index 0000000..54f1769
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/btThreadSupportInterface.h
@@ -0,0 +1,89 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_THREAD_SUPPORT_INTERFACE_H
+#define BT_THREAD_SUPPORT_INTERFACE_H
+
+
+#include <LinearMath/btScalar.h> //for ATTRIBUTE_ALIGNED16
+#include "PlatformDefinitions.h"
+#include "PpuAddressSpace.h"
+
+class btBarrier {
+public:
+       btBarrier() {}
+       virtual ~btBarrier() {}
+
+       virtual void sync() = 0;
+       virtual void setMaxCount(int n) = 0;
+       virtual int  getMaxCount() = 0;
+};
+
+class btCriticalSection {
+public:
+       btCriticalSection() {}
+       virtual ~btCriticalSection() {}
+
+       ATTRIBUTE_ALIGNED16(unsigned int mCommonBuff[32]);
+
+       virtual unsigned int getSharedParam(int i) = 0;
+       virtual void setSharedParam(int i,unsigned int p) = 0;
+
+       virtual void lock() = 0;
+       virtual void unlock() = 0;
+};
+
+
+class btThreadSupportInterface
+{
+public:
+
+       virtual ~btThreadSupportInterface();
+
+///send messages to SPUs
+       virtual void sendRequest(uint32_t uiCommand, ppu_address_t uiArgument0, uint32_t uiArgument1) =0;
+
+///check for messages from SPUs
+       virtual void waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1) =0;
+
+
+       ///non-blocking test if a task is completed. First implement all versions, and then enable this API
+       ///virtual bool isTaskCompleted(unsigned int *puiArgument0, unsigned int *puiArgument1, int timeOutInMilliseconds)=0;
+
+///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded)
+       virtual void startSPU() =0;
+
+///tell the task scheduler we are done with the SPU tasks
+       virtual void stopSPU()=0;
+
+       ///tell the task scheduler to use no more than numTasks tasks
+       virtual void    setNumTasks(int numTasks)=0;
+
+       virtual int             getNumTasks() const = 0;
+
+       virtual btBarrier*      createBarrier() = 0;
+
+       virtual btCriticalSection* createCriticalSection() = 0;
+
+       virtual void deleteBarrier(btBarrier* barrier)=0;
+
+    virtual void deleteCriticalSection(btCriticalSection* criticalSection)=0;
+       
+       virtual void*   getThreadLocalMemory(int taskId) { return 0; }
+
+};
+
+#endif //BT_THREAD_SUPPORT_INTERFACE_H
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/cmake_install.cmake b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/cmake_install.cmake
new file mode 100644 (file)
index 0000000..4ffaac0
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/cmake_install.cmake
@@ -0,0 +1,49 @@
+# Install script for directory: /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/BulletMultiThreaded
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/usr/local")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  IF(BUILD_TYPE)
+    STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  ELSE(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "Release")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE STATIC_LIBRARY FILES "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/BulletMultiThreaded/libBulletMultiThreaded.a")
+  IF(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libBulletMultiThreaded.a" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libBulletMultiThreaded.a")
+    EXECUTE_PROCESS(COMMAND "/usr/bin/ranlib" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libBulletMultiThreaded.a")
+  ENDIF()
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES
+   "/usr/local/include/bullet/BulletMultiThreaded")
+FILE(INSTALL DESTINATION "/usr/local/include/bullet" TYPE DIRECTORY FILES "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/BulletMultiThreaded" FILES_MATCHING REGEX "/[^/]*\\.h$" REGEX "/\\.svn$" EXCLUDE REGEX "/cmakefiles$" EXCLUDE)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+  # Include the install script for each subdirectory.
+  INCLUDE("/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/BulletMultiThreaded/GpuSoftBodySolvers/cmake_install.cmake")
+
+ENDIF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/vectormath2bullet.h b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/vectormath2bullet.h
new file mode 100644 (file)
index 0000000..4cc72ac
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletMultiThreaded/vectormath2bullet.h
@@ -0,0 +1,73 @@
+/*
+   Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+   Redistribution and use in source and binary forms,
+   with or without modification, are permitted provided that the
+   following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Sony Computer Entertainment Inc nor the names
+      of its contributors may be used to endorse or promote products derived
+      from this software without specific prior written permission.
+
+   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+   AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+   IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+   ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+   LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+   CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+   SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+   INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+   CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+   ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+   POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef BT_AOS_VECTORMATH_BULLET_CONVERT_H
+#define BT_AOS_VECTORMATH_BULLET_CONVERT_H
+
+#include "PlatformDefinitions.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btQuaternion.h"
+#include "LinearMath/btMatrix3x3.h"
+
+inline Vectormath::Aos::Vector3        getVmVector3(const btVector3& bulletVec)
+{
+       return Vectormath::Aos::Vector3((float)bulletVec.getX(),(float)bulletVec.getY(),(float)bulletVec.getZ());
+}
+
+inline btVector3 getBtVector3(const Vectormath::Aos::Vector3& vmVec)
+{
+       return btVector3(vmVec.getX(),vmVec.getY(),vmVec.getZ());
+}
+inline btVector3 getBtVector3(const Vectormath::Aos::Point3& vmVec)
+{
+       return btVector3(vmVec.getX(),vmVec.getY(),vmVec.getZ());
+}
+
+inline Vectormath::Aos::Quat   getVmQuat(const btQuaternion& bulletQuat)
+{
+       Vectormath::Aos::Quat vmQuat((float)bulletQuat.getX(),(float)bulletQuat.getY(),(float)bulletQuat.getZ(),(float)bulletQuat.getW());
+       return vmQuat;
+}
+
+inline btQuaternion    getBtQuat(const Vectormath::Aos::Quat& vmQuat)
+{
+       return btQuaternion (vmQuat.getX(),vmQuat.getY(),vmQuat.getZ(),vmQuat.getW());
+}
+
+inline Vectormath::Aos::Matrix3        getVmMatrix3(const btMatrix3x3& btMat)
+{
+       Vectormath::Aos::Matrix3 mat(
+               getVmVector3(btMat.getColumn(0)),
+               getVmVector3(btMat.getColumn(1)),
+               getVmVector3(btMat.getColumn(2)));
+               return mat;
+}
+
+
+#endif //BT_AOS_VECTORMATH_BULLET_CONVERT_H

diff --git a/extensions/gdx-bullet/jni/src/bullet/BulletSoftBody/CMakeFiles/BulletSoftBody.dir/CXX.includecache b/extensions/gdx-bullet/jni/src/bullet/BulletSoftBody/CMakeFiles/BulletSoftBody.dir/CXX.includecache
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index 0000000..d64740d
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/BulletSoftBody/CMakeFiles/BulletSoftBody.dir/CXX.includecache
@@ -0,0 +1,792 @@
+#IncludeRegexLine: ^[  ]*#[    ]*(include|import)[     ]*[<"]([^">]+)([">])
+
+#IncludeRegexScan: ^.*$
+
+#IncludeRegexComplain: ^$
+
+#IncludeRegexTransform: 
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index 0000000..8e11598
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+       btSequentialImpulseConstraintSolver.lo btWheelInfo.lo \
+       btRaycastVehicle.lo btKinematicCharacterController.lo
+libBulletDynamics_la_OBJECTS = $(am_libBulletDynamics_la_OBJECTS)
+@CONDITIONAL_BUILD_MULTITHREADED_FALSE@am_libBulletDynamics_la_rpath =  \
+@CONDITIONAL_BUILD_MULTITHREADED_FALSE@        -rpath $(libdir)
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@am_libBulletDynamics_la_rpath =  \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@ -rpath $(libdir)
+libBulletMultiThreaded_la_LIBADD =
+am__libBulletMultiThreaded_la_SOURCES_DIST =  \
+       BulletMultiThreaded/SpuCollisionObjectWrapper.cpp \
+       BulletMultiThreaded/SpuSampleTask/SpuSampleTask.cpp \
+       BulletMultiThreaded/SpuLibspe2Support.cpp \
+       BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.cpp \
+       BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp \
+       BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp \
+       BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp \
+       BulletMultiThreaded/btThreadSupportInterface.cpp \
+       BulletMultiThreaded/SequentialThreadSupport.cpp \
+       BulletMultiThreaded/SpuGatheringCollisionDispatcher.cpp \
+       BulletMultiThreaded/Win32ThreadSupport.cpp \
+       BulletMultiThreaded/SpuFakeDma.cpp \
+       BulletMultiThreaded/PosixThreadSupport.cpp \
+       BulletMultiThreaded/SpuCollisionTaskProcess.cpp \
+       BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.cpp \
+       BulletMultiThreaded/SpuSampleTaskProcess.cpp \
+       BulletMultiThreaded/SpuSampleTask/SpuSampleTask.h \
+       BulletMultiThreaded/PpuAddressSpace.h \
+       BulletMultiThreaded/SpuSampleTaskProcess.h \
+       BulletMultiThreaded/SequentialThreadSupport.h \
+       BulletMultiThreaded/PlatformDefinitions.h \
+       BulletMultiThreaded/Win32ThreadSupport.h \
+       BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h \
+       BulletMultiThreaded/btThreadSupportInterface.h \
+       BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h \
+       BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h \
+       BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h \
+       BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h \
+       BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuLocalSupport.h \
+       BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h \
+       BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h \
+       BulletMultiThreaded/SpuGatheringCollisionDispatcher.h \
+       BulletMultiThreaded/SpuFakeDma.h BulletMultiThreaded/SpuSync.h \
+       BulletMultiThreaded/SpuCollisionObjectWrapper.h \
+       BulletMultiThreaded/SpuDoubleBuffer.h \
+       BulletMultiThreaded/SpuCollisionTaskProcess.h \
+       BulletMultiThreaded/PosixThreadSupport.h \
+       BulletMultiThreaded/SpuLibspe2Support.h \
+       BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.cpp \
+       BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.h \
+       BulletMultiThreaded/SpuNarrowPhaseCollisionTask/Box.h
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@am_libBulletMultiThreaded_la_OBJECTS = libBulletMultiThreaded_la-SpuCollisionObjectWrapper.lo \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@ libBulletMultiThreaded_la-SpuSampleTask.lo \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@ libBulletMultiThreaded_la-SpuLibspe2Support.lo \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@ libBulletMultiThreaded_la-SpuContactResult.lo \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@ libBulletMultiThreaded_la-SpuGatheringCollisionTask.lo \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@ libBulletMultiThreaded_la-SpuMinkowskiPenetrationDepthSolver.lo \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@ libBulletMultiThreaded_la-SpuCollisionShapes.lo \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@ libBulletMultiThreaded_la-btThreadSupportInterface.lo \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@ libBulletMultiThreaded_la-SequentialThreadSupport.lo \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@ libBulletMultiThreaded_la-SpuGatheringCollisionDispatcher.lo \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@ libBulletMultiThreaded_la-Win32ThreadSupport.lo \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@ libBulletMultiThreaded_la-SpuFakeDma.lo \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@ libBulletMultiThreaded_la-PosixThreadSupport.lo \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@ libBulletMultiThreaded_la-SpuCollisionTaskProcess.lo \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@ libBulletMultiThreaded_la-SpuContactManifoldCollisionAlgorithm.lo \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@ libBulletMultiThreaded_la-SpuSampleTaskProcess.lo \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@ libBulletMultiThreaded_la-boxBoxDistance.lo
+libBulletMultiThreaded_la_OBJECTS =  \
+       $(am_libBulletMultiThreaded_la_OBJECTS)
+libBulletMultiThreaded_la_LINK = $(LIBTOOL) --tag=CXX \
+       $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) --mode=link $(CXXLD) \
+       $(libBulletMultiThreaded_la_CXXFLAGS) $(CXXFLAGS) \
+       $(AM_LDFLAGS) $(LDFLAGS) -o $@
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@am_libBulletMultiThreaded_la_rpath =  \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@ -rpath $(libdir)
+libBulletSoftBody_la_LIBADD =
+am_libBulletSoftBody_la_OBJECTS = btDefaultSoftBodySolver.lo \
+       btSoftBodyRigidBodyCollisionConfiguration.lo btSoftBody.lo \
+       btSoftRigidCollisionAlgorithm.lo \
+       btSoftBodyConcaveCollisionAlgorithm.lo \
+       btSoftRigidDynamicsWorld.lo btSoftBodyHelpers.lo \
+       btSoftSoftCollisionAlgorithm.lo
+libBulletSoftBody_la_OBJECTS = $(am_libBulletSoftBody_la_OBJECTS)
+@CONDITIONAL_BUILD_MULTITHREADED_FALSE@am_libBulletSoftBody_la_rpath =  \
+@CONDITIONAL_BUILD_MULTITHREADED_FALSE@        -rpath $(libdir)
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@am_libBulletSoftBody_la_rpath =  \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@ -rpath $(libdir)
+libLinearMath_la_LIBADD =
+am_libLinearMath_la_OBJECTS = btQuickprof.lo btGeometryUtil.lo \
+       btAlignedAllocator.lo btSerializer.lo btConvexHull.lo \
+       btPolarDecomposition.lo btVector3.lo btConvexHullComputer.lo
+libLinearMath_la_OBJECTS = $(am_libLinearMath_la_OBJECTS)
+@CONDITIONAL_BUILD_MULTITHREADED_FALSE@am_libLinearMath_la_rpath =  \
+@CONDITIONAL_BUILD_MULTITHREADED_FALSE@        -rpath $(libdir)
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@am_libLinearMath_la_rpath =  \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@ -rpath $(libdir)
+DEFAULT_INCLUDES = -I.@am__isrc@ -I$(top_builddir)
+depcomp = $(SHELL) $(top_srcdir)/depcomp
+am__depfiles_maybe = depfiles
+am__mv = mv -f
+CXXCOMPILE = $(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) \
+       $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS)
+LTCXXCOMPILE = $(LIBTOOL) --tag=CXX $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) \
+       --mode=compile $(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) \
+       $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS)
+CXXLD = $(CXX)
+CXXLINK = $(LIBTOOL) --tag=CXX $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) \
+       --mode=link $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) $(AM_LDFLAGS) \
+       $(LDFLAGS) -o $@
+COMPILE = $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) \
+       $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS)
+LTCOMPILE = $(LIBTOOL) --tag=CC $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) \
+       --mode=compile $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) \
+       $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS)
+CCLD = $(CC)
+LINK = $(LIBTOOL) --tag=CC $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) \
+       --mode=link $(CCLD) $(AM_CFLAGS) $(CFLAGS) $(AM_LDFLAGS) \
+       $(LDFLAGS) -o $@
+SOURCES = $(libBulletCollision_la_SOURCES) \
+       $(libBulletDynamics_la_SOURCES) \
+       $(libBulletMultiThreaded_la_SOURCES) \
+       $(libBulletSoftBody_la_SOURCES) $(libLinearMath_la_SOURCES)
+DIST_SOURCES = $(libBulletCollision_la_SOURCES) \
+       $(libBulletDynamics_la_SOURCES) \
+       $(am__libBulletMultiThreaded_la_SOURCES_DIST) \
+       $(libBulletSoftBody_la_SOURCES) $(libLinearMath_la_SOURCES)
+am__nobase_bullet_include_HEADERS_DIST = btBulletDynamicsCommon.h \
+       Bullet-C-Api.h btBulletCollisionCommon.h \
+       BulletMultiThreaded/PosixThreadSupport.h \
+       BulletMultiThreaded/vectormath/scalar/cpp/mat_aos.h \
+       BulletMultiThreaded/vectormath/scalar/cpp/vec_aos.h \
+       BulletMultiThreaded/vectormath/scalar/cpp/quat_aos.h \
+       BulletMultiThreaded/vectormath/scalar/cpp/vectormath_aos.h \
+       BulletMultiThreaded/PpuAddressSpace.h \
+       BulletMultiThreaded/SpuCollisionTaskProcess.h \
+       BulletMultiThreaded/PlatformDefinitions.h \
+       BulletMultiThreaded/vectormath2bullet.h \
+       BulletMultiThreaded/SpuGatheringCollisionDispatcher.h \
+       BulletMultiThreaded/SpuCollisionObjectWrapper.h \
+       BulletMultiThreaded/SpuSampleTaskProcess.h \
+       BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.h \
+       BulletMultiThreaded/SpuNarrowPhaseCollisionTask/Box.h \
+       BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h \
+       BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuLocalSupport.h \
+       BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h \
+       BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h \
+       BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h \
+       BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h \
+       BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h \
+       BulletMultiThreaded/SpuSync.h \
+       BulletMultiThreaded/btThreadSupportInterface.h \
+       BulletMultiThreaded/SpuLibspe2Support.h \
+       BulletMultiThreaded/SpuSampleTask/SpuSampleTask.h \
+       BulletMultiThreaded/SpuFakeDma.h \
+       BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h \
+       BulletMultiThreaded/SpuDoubleBuffer.h \
+       BulletMultiThreaded/Win32ThreadSupport.h \
+       BulletMultiThreaded/SequentialThreadSupport.h \
+       BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h \
+       BulletSoftBody/btSoftBodyInternals.h \
+       BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h \
+       BulletSoftBody/btSoftSoftCollisionAlgorithm.h \
+       BulletSoftBody/btSoftBody.h BulletSoftBody/btSoftBodyHelpers.h \
+       BulletSoftBody/btSparseSDF.h \
+       BulletSoftBody/btSoftRigidCollisionAlgorithm.h \
+       BulletSoftBody/btSoftRigidDynamicsWorld.h \
+       BulletDynamics/Vehicle/btRaycastVehicle.h \
+       BulletDynamics/Vehicle/btWheelInfo.h \
+       BulletDynamics/Vehicle/btVehicleRaycaster.h \
+       BulletDynamics/Dynamics/btActionInterface.h \
+       BulletDynamics/Dynamics/btRigidBody.h \
+       BulletDynamics/Dynamics/btDynamicsWorld.h \
+       BulletDynamics/Dynamics/btSimpleDynamicsWorld.h \
+       BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h \
+       BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h \
+       BulletDynamics/ConstraintSolver/btSolverConstraint.h \
+       BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h \
+       BulletDynamics/ConstraintSolver/btTypedConstraint.h \
+       BulletDynamics/ConstraintSolver/btSliderConstraint.h \
+       BulletDynamics/ConstraintSolver/btConstraintSolver.h \
+       BulletDynamics/ConstraintSolver/btContactConstraint.h \
+       BulletDynamics/ConstraintSolver/btContactSolverInfo.h \
+       BulletDynamics/ConstraintSolver/btGearConstraint.h \
+       BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h \
+       BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h \
+       BulletDynamics/ConstraintSolver/btJacobianEntry.h \
+       BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h \
+       BulletDynamics/ConstraintSolver/btConeTwistConstraint.h \
+       BulletDynamics/ConstraintSolver/btHingeConstraint.h \
+       BulletDynamics/ConstraintSolver/btHinge2Constraint.h \
+       BulletDynamics/ConstraintSolver/btUniversalConstraint.h \
+       BulletDynamics/ConstraintSolver/btSolverBody.h \
+       BulletDynamics/Character/btCharacterControllerInterface.h \
+       BulletDynamics/Character/btKinematicCharacterController.h \
+       BulletCollision/CollisionShapes/btShapeHull.h \
+       BulletCollision/CollisionShapes/btConcaveShape.h \
+       BulletCollision/CollisionShapes/btCollisionMargin.h \
+       BulletCollision/CollisionShapes/btCompoundShape.h \
+       BulletCollision/CollisionShapes/btConvexHullShape.h \
+       BulletCollision/CollisionShapes/btCylinderShape.h \
+       BulletCollision/CollisionShapes/btTriangleMesh.h \
+       BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h \
+       BulletCollision/CollisionShapes/btUniformScalingShape.h \
+       BulletCollision/CollisionShapes/btConvexPointCloudShape.h \
+       BulletCollision/CollisionShapes/btTetrahedronShape.h \
+       BulletCollision/CollisionShapes/btCapsuleShape.h \
+       BulletCollision/CollisionShapes/btSphereShape.h \
+       BulletCollision/CollisionShapes/btMultiSphereShape.h \
+       BulletCollision/CollisionShapes/btConvexInternalShape.h \
+       BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h \
+       BulletCollision/CollisionShapes/btStridingMeshInterface.h \
+       BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h \
+       BulletCollision/CollisionShapes/btEmptyShape.h \
+       BulletCollision/CollisionShapes/btOptimizedBvh.h \
+       BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h \
+       BulletCollision/CollisionShapes/btTriangleCallback.h \
+       BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h \
+       BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h \
+       BulletCollision/CollisionShapes/btTriangleInfoMap.h \
+       BulletCollision/CollisionShapes/btTriangleBuffer.h \
+       BulletCollision/CollisionShapes/btConvexShape.h \
+       BulletCollision/CollisionShapes/btConvex2dShape.h \
+       BulletCollision/CollisionShapes/btStaticPlaneShape.h \
+       BulletCollision/CollisionShapes/btConeShape.h \
+       BulletCollision/CollisionShapes/btCollisionShape.h \
+       BulletCollision/CollisionShapes/btTriangleShape.h \
+       BulletCollision/CollisionShapes/btBoxShape.h \
+       BulletCollision/CollisionShapes/btBox2dShape.h \
+       BulletCollision/CollisionShapes/btMinkowskiSumShape.h \
+       BulletCollision/CollisionShapes/btTriangleMeshShape.h \
+       BulletCollision/CollisionShapes/btMaterial.h \
+       BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h \
+       BulletCollision/CollisionShapes/btPolyhedralConvexShape.h \
+       BulletCollision/NarrowPhaseCollision/btConvexCast.h \
+       BulletCollision/NarrowPhaseCollision/btGjkEpa2.h \
+       BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h \
+       BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h \
+       BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h \
+       BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h \
+       BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h \
+       BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h \
+       BulletCollision/NarrowPhaseCollision/btPersistentManifold.h \
+       BulletCollision/NarrowPhaseCollision/btManifoldPoint.h \
+       BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h \
+       BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h \
+       BulletCollision/NarrowPhaseCollision/btRaycastCallback.h \
+       BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h \
+       BulletCollision/NarrowPhaseCollision/btPointCollector.h \
+       BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h \
+       BulletCollision/BroadphaseCollision/btDbvt.h \
+       BulletCollision/BroadphaseCollision/btDispatcher.h \
+       BulletCollision/BroadphaseCollision/btDbvtBroadphase.h \
+       BulletCollision/BroadphaseCollision/btSimpleBroadphase.h \
+       BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h \
+       BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h \
+       BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h \
+       BulletCollision/BroadphaseCollision/btQuantizedBvh.h \
+       BulletCollision/BroadphaseCollision/btAxisSweep3.h \
+       BulletCollision/BroadphaseCollision/btBroadphaseInterface.h \
+       BulletCollision/BroadphaseCollision/btOverlappingPairCache.h \
+       BulletCollision/BroadphaseCollision/btBroadphaseProxy.h \
+       BulletCollision/CollisionDispatch/btUnionFind.h \
+       BulletCollision/CollisionDispatch/btCollisionConfiguration.h \
+       BulletCollision/CollisionDispatch/btCollisionDispatcher.h \
+       BulletCollision/CollisionDispatch/SphereTriangleDetector.h \
+       BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h \
+       BulletCollision/CollisionDispatch/btCollisionWorld.h \
+       BulletCollision/CollisionDispatch/btCollisionCreateFunc.h \
+       BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h \
+       BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h \
+       BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h \
+       BulletCollision/CollisionDispatch/btCollisionObject.h \
+       BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h \
+       BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h \
+       BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h \
+       BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h \
+       BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h \
+       BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h \
+       BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h \
+       BulletCollision/CollisionDispatch/btGhostObject.h \
+       BulletCollision/CollisionDispatch/btSimulationIslandManager.h \
+       BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h \
+       BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h \
+       BulletCollision/CollisionDispatch/btBoxBoxDetector.h \
+       BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h \
+       BulletCollision/CollisionDispatch/btInternalEdgeUtility.h \
+       BulletCollision/CollisionDispatch/btManifoldResult.h \
+       BulletCollision/Gimpact/gim_memory.h \
+       BulletCollision/Gimpact/gim_clip_polygon.h \
+       BulletCollision/Gimpact/gim_bitset.h \
+       BulletCollision/Gimpact/gim_linear_math.h \
+       BulletCollision/Gimpact/btGeometryOperations.h \
+       BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h \
+       BulletCollision/Gimpact/btGImpactBvh.h \
+       BulletCollision/Gimpact/gim_box_set.h \
+       BulletCollision/Gimpact/gim_array.h \
+       BulletCollision/Gimpact/btGImpactShape.h \
+       BulletCollision/Gimpact/btTriangleShapeEx.h \
+       BulletCollision/Gimpact/btClipPolygon.h \
+       BulletCollision/Gimpact/gim_box_collision.h \
+       BulletCollision/Gimpact/gim_tri_collision.h \
+       BulletCollision/Gimpact/gim_geometry.h \
+       BulletCollision/Gimpact/gim_math.h \
+       BulletCollision/Gimpact/btQuantization.h \
+       BulletCollision/Gimpact/btGImpactQuantizedBvh.h \
+       BulletCollision/Gimpact/gim_geom_types.h \
+       BulletCollision/Gimpact/gim_basic_geometry_operations.h \
+       BulletCollision/Gimpact/gim_contact.h \
+       BulletCollision/Gimpact/gim_hash_table.h \
+       BulletCollision/Gimpact/gim_radixsort.h \
+       BulletCollision/Gimpact/btGImpactMassUtil.h \
+       BulletCollision/Gimpact/btGenericPoolAllocator.h \
+       BulletCollision/Gimpact/btBoxCollision.h \
+       BulletCollision/Gimpact/btContactProcessing.h \
+       LinearMath/btGeometryUtil.h LinearMath/btConvexHull.h \
+       LinearMath/btList.h LinearMath/btMatrix3x3.h \
+       LinearMath/btVector3.h LinearMath/btPoolAllocator.h \
+       LinearMath/btPolarDecomposition.h LinearMath/btScalar.h \
+       LinearMath/btDefaultMotionState.h LinearMath/btTransform.h \
+       LinearMath/btQuadWord.h LinearMath/btAabbUtil2.h \
+       LinearMath/btTransformUtil.h LinearMath/btRandom.h \
+       LinearMath/btQuaternion.h LinearMath/btMinMax.h \
+       LinearMath/btMotionState.h LinearMath/btIDebugDraw.h \
+       LinearMath/btAlignedAllocator.h LinearMath/btStackAlloc.h \
+       LinearMath/btAlignedObjectArray.h LinearMath/btHashMap.h \
+       LinearMath/btQuickprof.h LinearMath/btSerializer.h
+HEADERS = $(nobase_bullet_include_HEADERS)
+ETAGS = etags
+CTAGS = ctags
+DISTFILES = $(DIST_COMMON) $(DIST_SOURCES) $(TEXINFOS) $(EXTRA_DIST)
+ACLOCAL = @ACLOCAL@
+AMTAR = @AMTAR@
+AR = @AR@
+AUTOCONF = @AUTOCONF@
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+CPPFLAGS = @CPPFLAGS@
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+CXXCPP = @CXXCPP@
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+CYGPATH_W = @CYGPATH_W@
+DEFS = @DEFS@
+DEPDIR = @DEPDIR@
+DLLTOOL = @DLLTOOL@
+DSYMUTIL = @DSYMUTIL@
+DUMPBIN = @DUMPBIN@
+ECHO_C = @ECHO_C@
+ECHO_N = @ECHO_N@
+ECHO_T = @ECHO_T@
+EGREP = @EGREP@
+EXEEXT = @EXEEXT@
+FGREP = @FGREP@
+GL_LIBS = @GL_LIBS@
+GREP = @GREP@
+INSTALL = @INSTALL@
+INSTALL_DATA = @INSTALL_DATA@
+INSTALL_PROGRAM = @INSTALL_PROGRAM@
+INSTALL_SCRIPT = @INSTALL_SCRIPT@
+INSTALL_STRIP_PROGRAM = @INSTALL_STRIP_PROGRAM@
+LD = @LD@
+LDFLAGS = @LDFLAGS@
+LIBOBJS = @LIBOBJS@
+LIBS = @LIBS@
+LIBTOOL = @LIBTOOL@
+LIPO = @LIPO@
+LN_S = @LN_S@
+LTLIBOBJS = @LTLIBOBJS@
+MAKEINFO = @MAKEINFO@
+MANIFEST_TOOL = @MANIFEST_TOOL@
+MKDIR_P = @MKDIR_P@
+NM = @NM@
+NMEDIT = @NMEDIT@
+OBJDUMP = @OBJDUMP@
+OBJEXT = @OBJEXT@
+OTOOL = @OTOOL@
+OTOOL64 = @OTOOL64@
+PACKAGE = @PACKAGE@
+PACKAGE_BUGREPORT = @PACKAGE_BUGREPORT@
+PACKAGE_NAME = @PACKAGE_NAME@
+PACKAGE_STRING = @PACKAGE_STRING@
+PACKAGE_TARNAME = @PACKAGE_TARNAME@
+PACKAGE_URL = @PACKAGE_URL@
+PACKAGE_VERSION = @PACKAGE_VERSION@
+PATH_SEPARATOR = @PATH_SEPARATOR@
+RANLIB = @RANLIB@
+SED = @SED@
+SET_MAKE = @SET_MAKE@
+SHELL = @SHELL@
+STRIP = @STRIP@
+VERSION = @VERSION@
+abs_builddir = @abs_builddir@
+abs_srcdir = @abs_srcdir@
+abs_top_builddir = @abs_top_builddir@
+abs_top_srcdir = @abs_top_srcdir@
+ac_ct_AR = @ac_ct_AR@
+ac_ct_CC = @ac_ct_CC@
+ac_ct_CXX = @ac_ct_CXX@
+ac_ct_DUMPBIN = @ac_ct_DUMPBIN@
+am__include = @am__include@
+am__leading_dot = @am__leading_dot@
+am__quote = @am__quote@
+am__tar = @am__tar@
+am__untar = @am__untar@
+bindir = @bindir@
+build = @build@
+build_alias = @build_alias@
+build_cpu = @build_cpu@
+build_os = @build_os@
+build_vendor = @build_vendor@
+builddir = @builddir@
+datadir = @datadir@
+datarootdir = @datarootdir@
+docdir = @docdir@
+dvidir = @dvidir@
+exec_prefix = @exec_prefix@
+host = @host@
+host_alias = @host_alias@
+host_cpu = @host_cpu@
+host_os = @host_os@
+host_vendor = @host_vendor@
+htmldir = @htmldir@
+includedir = @includedir@
+infodir = @infodir@
+install_sh = @install_sh@
+libdir = @libdir@
+libexecdir = @libexecdir@
+localedir = @localedir@
+localstatedir = @localstatedir@
+mandir = @mandir@
+mkdir_p = @mkdir_p@
+oldincludedir = @oldincludedir@
+opengl_LIBS = @opengl_LIBS@
+pdfdir = @pdfdir@
+prefix = @prefix@
+program_transform_name = @program_transform_name@
+psdir = @psdir@
+sbindir = @sbindir@
+sharedstatedir = @sharedstatedir@
+srcdir = @srcdir@
+sysconfdir = @sysconfdir@
+target_alias = @target_alias@
+top_build_prefix = @top_build_prefix@
+top_builddir = @top_builddir@
+top_srcdir = @top_srcdir@
+bullet_includedir = $(includedir)/bullet
+nobase_bullet_include_HEADERS = btBulletDynamicsCommon.h \
+       Bullet-C-Api.h btBulletCollisionCommon.h $(am__append_1) \
+       BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h \
+       BulletSoftBody/btSoftBodyInternals.h \
+       BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h \
+       BulletSoftBody/btSoftSoftCollisionAlgorithm.h \
+       BulletSoftBody/btSoftBody.h BulletSoftBody/btSoftBodyHelpers.h \
+       BulletSoftBody/btSparseSDF.h \
+       BulletSoftBody/btSoftRigidCollisionAlgorithm.h \
+       BulletSoftBody/btSoftRigidDynamicsWorld.h \
+       BulletDynamics/Vehicle/btRaycastVehicle.h \
+       BulletDynamics/Vehicle/btWheelInfo.h \
+       BulletDynamics/Vehicle/btVehicleRaycaster.h \
+       BulletDynamics/Dynamics/btActionInterface.h \
+       BulletDynamics/Dynamics/btRigidBody.h \
+       BulletDynamics/Dynamics/btDynamicsWorld.h \
+       BulletDynamics/Dynamics/btSimpleDynamicsWorld.h \
+       BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h \
+       BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h \
+       BulletDynamics/ConstraintSolver/btSolverConstraint.h \
+       BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h \
+       BulletDynamics/ConstraintSolver/btTypedConstraint.h \
+       BulletDynamics/ConstraintSolver/btSliderConstraint.h \
+       BulletDynamics/ConstraintSolver/btConstraintSolver.h \
+       BulletDynamics/ConstraintSolver/btContactConstraint.h \
+       BulletDynamics/ConstraintSolver/btContactSolverInfo.h \
+       BulletDynamics/ConstraintSolver/btGearConstraint.h \
+       BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h \
+       BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h \
+       BulletDynamics/ConstraintSolver/btJacobianEntry.h \
+       BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h \
+       BulletDynamics/ConstraintSolver/btConeTwistConstraint.h \
+       BulletDynamics/ConstraintSolver/btHingeConstraint.h \
+       BulletDynamics/ConstraintSolver/btHinge2Constraint.h \
+       BulletDynamics/ConstraintSolver/btUniversalConstraint.h \
+       BulletDynamics/ConstraintSolver/btSolverBody.h \
+       BulletDynamics/Character/btCharacterControllerInterface.h \
+       BulletDynamics/Character/btKinematicCharacterController.h \
+       BulletCollision/CollisionShapes/btShapeHull.h \
+       BulletCollision/CollisionShapes/btConcaveShape.h \
+       BulletCollision/CollisionShapes/btCollisionMargin.h \
+       BulletCollision/CollisionShapes/btCompoundShape.h \
+       BulletCollision/CollisionShapes/btConvexHullShape.h \
+       BulletCollision/CollisionShapes/btCylinderShape.h \
+       BulletCollision/CollisionShapes/btTriangleMesh.h \
+       BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h \
+       BulletCollision/CollisionShapes/btUniformScalingShape.h \
+       BulletCollision/CollisionShapes/btConvexPointCloudShape.h \
+       BulletCollision/CollisionShapes/btTetrahedronShape.h \
+       BulletCollision/CollisionShapes/btCapsuleShape.h \
+       BulletCollision/CollisionShapes/btSphereShape.h \
+       BulletCollision/CollisionShapes/btMultiSphereShape.h \
+       BulletCollision/CollisionShapes/btConvexInternalShape.h \
+       BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h \
+       BulletCollision/CollisionShapes/btStridingMeshInterface.h \
+       BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h \
+       BulletCollision/CollisionShapes/btEmptyShape.h \
+       BulletCollision/CollisionShapes/btOptimizedBvh.h \
+       BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h \
+       BulletCollision/CollisionShapes/btTriangleCallback.h \
+       BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h \
+       BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h \
+       BulletCollision/CollisionShapes/btTriangleInfoMap.h \
+       BulletCollision/CollisionShapes/btTriangleBuffer.h \
+       BulletCollision/CollisionShapes/btConvexShape.h \
+       BulletCollision/CollisionShapes/btConvex2dShape.h \
+       BulletCollision/CollisionShapes/btStaticPlaneShape.h \
+       BulletCollision/CollisionShapes/btConeShape.h \
+       BulletCollision/CollisionShapes/btCollisionShape.h \
+       BulletCollision/CollisionShapes/btTriangleShape.h \
+       BulletCollision/CollisionShapes/btBoxShape.h \
+       BulletCollision/CollisionShapes/btBox2dShape.h \
+       BulletCollision/CollisionShapes/btMinkowskiSumShape.h \
+       BulletCollision/CollisionShapes/btTriangleMeshShape.h \
+       BulletCollision/CollisionShapes/btMaterial.h \
+       BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h \
+       BulletCollision/CollisionShapes/btPolyhedralConvexShape.h \
+       BulletCollision/NarrowPhaseCollision/btConvexCast.h \
+       BulletCollision/NarrowPhaseCollision/btGjkEpa2.h \
+       BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h \
+       BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h \
+       BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h \
+       BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h \
+       BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h \
+       BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h \
+       BulletCollision/NarrowPhaseCollision/btPersistentManifold.h \
+       BulletCollision/NarrowPhaseCollision/btManifoldPoint.h \
+       BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h \
+       BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h \
+       BulletCollision/NarrowPhaseCollision/btRaycastCallback.h \
+       BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h \
+       BulletCollision/NarrowPhaseCollision/btPointCollector.h \
+       BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h \
+       BulletCollision/BroadphaseCollision/btDbvt.h \
+       BulletCollision/BroadphaseCollision/btDispatcher.h \
+       BulletCollision/BroadphaseCollision/btDbvtBroadphase.h \
+       BulletCollision/BroadphaseCollision/btSimpleBroadphase.h \
+       BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h \
+       BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h \
+       BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h \
+       BulletCollision/BroadphaseCollision/btQuantizedBvh.h \
+       BulletCollision/BroadphaseCollision/btAxisSweep3.h \
+       BulletCollision/BroadphaseCollision/btBroadphaseInterface.h \
+       BulletCollision/BroadphaseCollision/btOverlappingPairCache.h \
+       BulletCollision/BroadphaseCollision/btBroadphaseProxy.h \
+       BulletCollision/CollisionDispatch/btUnionFind.h \
+       BulletCollision/CollisionDispatch/btCollisionConfiguration.h \
+       BulletCollision/CollisionDispatch/btCollisionDispatcher.h \
+       BulletCollision/CollisionDispatch/SphereTriangleDetector.h \
+       BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h \
+       BulletCollision/CollisionDispatch/btCollisionWorld.h \
+       BulletCollision/CollisionDispatch/btCollisionCreateFunc.h \
+       BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h \
+       BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h \
+       BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h \
+       BulletCollision/CollisionDispatch/btCollisionObject.h \
+       BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h \
+       BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h \
+       BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h \
+       BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h \
+       BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h \
+       BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h \
+       BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h \
+       BulletCollision/CollisionDispatch/btGhostObject.h \
+       BulletCollision/CollisionDispatch/btSimulationIslandManager.h \
+       BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h \
+       BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h \
+       BulletCollision/CollisionDispatch/btBoxBoxDetector.h \
+       BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h \
+       BulletCollision/CollisionDispatch/btInternalEdgeUtility.h \
+       BulletCollision/CollisionDispatch/btManifoldResult.h \
+       BulletCollision/Gimpact/gim_memory.h \
+       BulletCollision/Gimpact/gim_clip_polygon.h \
+       BulletCollision/Gimpact/gim_bitset.h \
+       BulletCollision/Gimpact/gim_linear_math.h \
+       BulletCollision/Gimpact/btGeometryOperations.h \
+       BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h \
+       BulletCollision/Gimpact/btGImpactBvh.h \
+       BulletCollision/Gimpact/gim_box_set.h \
+       BulletCollision/Gimpact/gim_array.h \
+       BulletCollision/Gimpact/btGImpactShape.h \
+       BulletCollision/Gimpact/btTriangleShapeEx.h \
+       BulletCollision/Gimpact/btClipPolygon.h \
+       BulletCollision/Gimpact/gim_box_collision.h \
+       BulletCollision/Gimpact/gim_tri_collision.h \
+       BulletCollision/Gimpact/gim_geometry.h \
+       BulletCollision/Gimpact/gim_math.h \
+       BulletCollision/Gimpact/btQuantization.h \
+       BulletCollision/Gimpact/btGImpactQuantizedBvh.h \
+       BulletCollision/Gimpact/gim_geom_types.h \
+       BulletCollision/Gimpact/gim_basic_geometry_operations.h \
+       BulletCollision/Gimpact/gim_contact.h \
+       BulletCollision/Gimpact/gim_hash_table.h \
+       BulletCollision/Gimpact/gim_radixsort.h \
+       BulletCollision/Gimpact/btGImpactMassUtil.h \
+       BulletCollision/Gimpact/btGenericPoolAllocator.h \
+       BulletCollision/Gimpact/btBoxCollision.h \
+       BulletCollision/Gimpact/btContactProcessing.h \
+       LinearMath/btGeometryUtil.h LinearMath/btConvexHull.h \
+       LinearMath/btList.h LinearMath/btMatrix3x3.h \
+       LinearMath/btVector3.h LinearMath/btPoolAllocator.h \
+       LinearMath/btPolarDecomposition.h LinearMath/btScalar.h \
+       LinearMath/btDefaultMotionState.h LinearMath/btTransform.h \
+       LinearMath/btQuadWord.h LinearMath/btAabbUtil2.h \
+       LinearMath/btTransformUtil.h LinearMath/btRandom.h \
+       LinearMath/btQuaternion.h LinearMath/btMinMax.h \
+       LinearMath/btMotionState.h LinearMath/btIDebugDraw.h \
+       LinearMath/btAlignedAllocator.h LinearMath/btStackAlloc.h \
+       LinearMath/btAlignedObjectArray.h LinearMath/btHashMap.h \
+       LinearMath/btQuickprof.h LinearMath/btSerializer.h
+@CONDITIONAL_BUILD_MULTITHREADED_FALSE@lib_LTLIBRARIES = libLinearMath.la libBulletCollision.la libBulletDynamics.la libBulletSoftBody.la
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@lib_LTLIBRARIES = libLinearMath.la libBulletCollision.la libBulletDynamics.la libBulletSoftBody.la libBulletMultiThreaded.la
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@libBulletMultiThreaded_la_CXXFLAGS = ${CXXFLAGS} -I./BulletMultiThreaded/vectormath/scalar/cpp
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@libBulletMultiThreaded_la_SOURCES = \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuCollisionObjectWrapper.cpp \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuSampleTask/SpuSampleTask.cpp \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuLibspe2Support.cpp \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.cpp \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/btThreadSupportInterface.cpp \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SequentialThreadSupport.cpp \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuGatheringCollisionDispatcher.cpp \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/Win32ThreadSupport.cpp \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuFakeDma.cpp \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/PosixThreadSupport.cpp \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuCollisionTaskProcess.cpp \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.cpp \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuSampleTaskProcess.cpp \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuSampleTask/SpuSampleTask.h \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/PpuAddressSpace.h \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuSampleTaskProcess.h \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SequentialThreadSupport.h \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/PlatformDefinitions.h \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/Win32ThreadSupport.h \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/btThreadSupportInterface.h \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuLocalSupport.h \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuGatheringCollisionDispatcher.h \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuFakeDma.h \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuSync.h \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuCollisionObjectWrapper.h \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuDoubleBuffer.h \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuCollisionTaskProcess.h \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/PosixThreadSupport.h \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuLibspe2Support.h \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.cpp \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.h \
+@CONDITIONAL_BUILD_MULTITHREADED_TRUE@         BulletMultiThreaded/SpuNarrowPhaseCollisionTask/Box.h
+
+libLinearMath_la_SOURCES = \
+               LinearMath/btQuickprof.cpp \
+               LinearMath/btGeometryUtil.cpp \
+               LinearMath/btAlignedAllocator.cpp \
+               LinearMath/btSerializer.cpp \
+               LinearMath/btConvexHull.cpp \
+               LinearMath/btPolarDecomposition.cpp \
+               LinearMath/btVector3.cpp \
+               LinearMath/btConvexHullComputer.cpp \
+               LinearMath/btHashMap.h \
+               LinearMath/btConvexHull.h \
+               LinearMath/btAabbUtil2.h \
+               LinearMath/btGeometryUtil.h \
+               LinearMath/btQuadWord.h \
+               LinearMath/btPoolAllocator.h \
+               LinearMath/btPolarDecomposition.h \
+               LinearMath/btScalar.h \
+               LinearMath/btMinMax.h \
+               LinearMath/btVector3.h \
+               LinearMath/btList.h \
+               LinearMath/btStackAlloc.h \
+               LinearMath/btMatrix3x3.h \
+               LinearMath/btMotionState.h \
+               LinearMath/btAlignedAllocator.h \
+               LinearMath/btQuaternion.h \
+               LinearMath/btAlignedObjectArray.h \
+               LinearMath/btQuickprof.h \
+               LinearMath/btSerializer.h \
+               LinearMath/btTransformUtil.h \
+               LinearMath/btTransform.h \
+               LinearMath/btDefaultMotionState.h \
+               LinearMath/btIDebugDraw.h \
+               LinearMath/btRandom.h
+
+libBulletCollision_la_SOURCES = \
+               BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp \
+               BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp \
+               BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp \
+               BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp \
+               BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp \
+               BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp \
+               BulletCollision/NarrowPhaseCollision/btConvexCast.cpp \
+               BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp \
+               BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp \
+               BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp \
+               BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp \
+               BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp \
+               BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp \
+               BulletCollision/CollisionDispatch/btCollisionObject.cpp \
+               BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp \
+               BulletCollision/CollisionDispatch/btGhostObject.cpp \
+               BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp \
+               BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp \
+               BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp \
+               BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp \
+               BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp \
+               BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp \
+               BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp \
+               BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp \
+               BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp \
+               BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp \
+               BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp \
+               BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp \
+               BulletCollision/CollisionDispatch/btManifoldResult.cpp \
+               BulletCollision/CollisionDispatch/btCollisionWorld.cpp \
+               BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp \
+               BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp \
+               BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp \
+               BulletCollision/CollisionDispatch/btUnionFind.cpp \
+               BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp \
+               BulletCollision/CollisionShapes/btTetrahedronShape.cpp \
+               BulletCollision/CollisionShapes/btShapeHull.cpp \
+               BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp \
+               BulletCollision/CollisionShapes/btCompoundShape.cpp \
+               BulletCollision/CollisionShapes/btConeShape.cpp \
+               BulletCollision/CollisionShapes/btConvexPolyhedron.cpp \
+               BulletCollision/CollisionShapes/btMultiSphereShape.cpp \
+               BulletCollision/CollisionShapes/btUniformScalingShape.cpp \
+               BulletCollision/CollisionShapes/btSphereShape.cpp \
+               BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp \
+               BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp \
+               BulletCollision/CollisionShapes/btTriangleMeshShape.cpp \
+               BulletCollision/CollisionShapes/btTriangleBuffer.cpp \
+               BulletCollision/CollisionShapes/btStaticPlaneShape.cpp \
+               BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp \
+               BulletCollision/CollisionShapes/btEmptyShape.cpp \
+               BulletCollision/CollisionShapes/btCollisionShape.cpp \
+               BulletCollision/CollisionShapes/btConvexShape.cpp \
+               BulletCollision/CollisionShapes/btConvex2dShape.cpp \
+               BulletCollision/CollisionShapes/btConvexInternalShape.cpp \
+               BulletCollision/CollisionShapes/btConvexHullShape.cpp \
+               BulletCollision/CollisionShapes/btTriangleCallback.cpp \
+               BulletCollision/CollisionShapes/btCapsuleShape.cpp \
+               BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp \
+               BulletCollision/CollisionShapes/btConcaveShape.cpp \
+               BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp \
+               BulletCollision/CollisionShapes/btBoxShape.cpp \
+               BulletCollision/CollisionShapes/btBox2dShape.cpp \
+               BulletCollision/CollisionShapes/btOptimizedBvh.cpp \
+               BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp \
+               BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp \
+               BulletCollision/CollisionShapes/btCylinderShape.cpp \
+               BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp \
+               BulletCollision/CollisionShapes/btStridingMeshInterface.cpp \
+               BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp \
+               BulletCollision/CollisionShapes/btTriangleMesh.cpp \
+               BulletCollision/BroadphaseCollision/btAxisSweep3.cpp \
+               BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp \
+               BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp \
+               BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp \
+               BulletCollision/BroadphaseCollision/btDispatcher.cpp \
+               BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp \
+               BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp \
+               BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp \
+               BulletCollision/BroadphaseCollision/btDbvt.cpp \
+               BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp \
+               BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h \
+               BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h \
+               BulletCollision/NarrowPhaseCollision/btConvexCast.h \
+               BulletCollision/NarrowPhaseCollision/btGjkEpa2.h \
+               BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h \
+               BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h \
+               BulletCollision/NarrowPhaseCollision/btPointCollector.h \
+               BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h \
+               BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h \
+               BulletCollision/NarrowPhaseCollision/btRaycastCallback.h \
+               BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h \
+               BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h \
+               BulletCollision/NarrowPhaseCollision/btPersistentManifold.h \
+               BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h \
+               BulletCollision/NarrowPhaseCollision/btManifoldPoint.h \
+               BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h \
+               BulletCollision/CollisionDispatch/btCollisionObject.h \
+        BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h \
+               BulletCollision/CollisionDispatch/btGhostObject.h \
+               BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h \
+               BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h \
+               BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h \
+               BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h \
+               BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h \
+               BulletCollision/CollisionDispatch/btCollisionCreateFunc.h \
+               BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h \
+               BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h \
+               BulletCollision/CollisionDispatch/btBoxBoxDetector.h \
+               BulletCollision/CollisionDispatch/btCollisionDispatcher.h \
+               BulletCollision/CollisionDispatch/SphereTriangleDetector.h \
+               BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h \
+               BulletCollision/CollisionDispatch/btUnionFind.h \
+               BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h \
+               BulletCollision/CollisionDispatch/btSimulationIslandManager.h \
+               BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h \
+               BulletCollision/CollisionDispatch/btCollisionWorld.h \
+               BulletCollision/CollisionDispatch/btInternalEdgeUtility.h \
+               BulletCollision/CollisionDispatch/btManifoldResult.h \
+               BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h \
+               BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h \
+               BulletCollision/CollisionDispatch/btCollisionConfiguration.h \
+               BulletCollision/CollisionShapes/btConvexShape.h \
+               BulletCollision/CollisionShapes/btConvex2dShape.h \
+               BulletCollision/CollisionShapes/btTriangleCallback.h \
+               BulletCollision/CollisionShapes/btPolyhedralConvexShape.h \
+               BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h \
+               BulletCollision/CollisionShapes/btCompoundShape.h \
+               BulletCollision/CollisionShapes/btBoxShape.h \
+               BulletCollision/CollisionShapes/btBox2dShape.h \
+               BulletCollision/CollisionShapes/btMultiSphereShape.h \
+               BulletCollision/CollisionShapes/btCollisionMargin.h \
+               BulletCollision/CollisionShapes/btConcaveShape.h \
+               BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h \
+               BulletCollision/CollisionShapes/btEmptyShape.h \
+               BulletCollision/CollisionShapes/btUniformScalingShape.h \
+               BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h \
+               BulletCollision/CollisionShapes/btMaterial.h \
+               BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h \
+               BulletCollision/CollisionShapes/btTriangleInfoMap.h \
+               BulletCollision/CollisionShapes/btSphereShape.h \
+               BulletCollision/CollisionShapes/btConvexPointCloudShape.h \
+               BulletCollision/CollisionShapes/btCapsuleShape.h \
+               BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h \
+               BulletCollision/CollisionShapes/btCollisionShape.h \
+               BulletCollision/CollisionShapes/btStaticPlaneShape.h \
+               BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h \
+               BulletCollision/CollisionShapes/btTriangleMeshShape.h \
+               BulletCollision/CollisionShapes/btStridingMeshInterface.h \
+               BulletCollision/CollisionShapes/btTriangleMesh.h \
+               BulletCollision/CollisionShapes/btTriangleBuffer.h \
+               BulletCollision/CollisionShapes/btShapeHull.h \
+               BulletCollision/CollisionShapes/btMinkowskiSumShape.h \
+               BulletCollision/CollisionShapes/btOptimizedBvh.h \
+               BulletCollision/CollisionShapes/btTriangleShape.h \
+               BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h \
+               BulletCollision/CollisionShapes/btCylinderShape.h \
+               BulletCollision/CollisionShapes/btTetrahedronShape.h \
+               BulletCollision/CollisionShapes/btConvexInternalShape.h \
+               BulletCollision/CollisionShapes/btConeShape.h \
+               BulletCollision/CollisionShapes/btConvexHullShape.h \
+               BulletCollision/BroadphaseCollision/btAxisSweep3.h \
+               BulletCollision/BroadphaseCollision/btDbvtBroadphase.h \
+               BulletCollision/BroadphaseCollision/btSimpleBroadphase.h \
+               BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h \
+               BulletCollision/BroadphaseCollision/btDbvt.h \
+               BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h \
+               BulletCollision/BroadphaseCollision/btDispatcher.h \
+               BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h \
+               BulletCollision/BroadphaseCollision/btBroadphaseProxy.h \
+               BulletCollision/BroadphaseCollision/btOverlappingPairCache.h \
+               BulletCollision/BroadphaseCollision/btBroadphaseInterface.h \
+               BulletCollision/BroadphaseCollision/btQuantizedBvh.h \
+               BulletCollision/Gimpact/btGImpactBvh.cpp\
+                BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp\
+                BulletCollision/Gimpact/btTriangleShapeEx.cpp\
+                BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp\
+                BulletCollision/Gimpact/btGImpactShape.cpp\
+                BulletCollision/Gimpact/gim_box_set.cpp\
+                BulletCollision/Gimpact/gim_contact.cpp\
+                BulletCollision/Gimpact/gim_memory.cpp\
+                BulletCollision/Gimpact/gim_tri_collision.cpp
+
+libBulletDynamics_la_SOURCES = \
+               BulletDynamics/Dynamics/btRigidBody.cpp \
+               BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp \
+               BulletDynamics/Dynamics/Bullet-C-API.cpp \
+               BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp \
+               BulletDynamics/ConstraintSolver/btGearConstraint.cpp \
+               BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp \
+               BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp \
+               BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp \
+               BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp \
+               BulletDynamics/ConstraintSolver/btTypedConstraint.cpp \
+               BulletDynamics/ConstraintSolver/btContactConstraint.cpp \
+               BulletDynamics/ConstraintSolver/btSliderConstraint.cpp \
+               BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp \
+               BulletDynamics/ConstraintSolver/btHingeConstraint.cpp \
+               BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp \
+               BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp \
+               BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp \
+               BulletDynamics/Vehicle/btWheelInfo.cpp \
+               BulletDynamics/Vehicle/btRaycastVehicle.cpp \
+               BulletDynamics/Character/btKinematicCharacterController.cpp \
+               BulletDynamics/Character/btKinematicCharacterController.h \
+               BulletDynamics/Character/btCharacterControllerInterface.h \
+               BulletDynamics/Dynamics/btActionInterface.h \
+               BulletDynamics/Dynamics/btSimpleDynamicsWorld.h \
+               BulletDynamics/Dynamics/btRigidBody.h \
+               BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h \
+               BulletDynamics/Dynamics/btDynamicsWorld.h \
+               BulletDynamics/ConstraintSolver/btSolverBody.h \
+               BulletDynamics/ConstraintSolver/btConstraintSolver.h \
+               BulletDynamics/ConstraintSolver/btConeTwistConstraint.h \
+               BulletDynamics/ConstraintSolver/btTypedConstraint.h \
+               BulletDynamics/ConstraintSolver/btContactSolverInfo.h \
+               BulletDynamics/ConstraintSolver/btContactConstraint.h \
+               BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h \
+               BulletDynamics/ConstraintSolver/btJacobianEntry.h \
+               BulletDynamics/ConstraintSolver/btSolverConstraint.h \
+               BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h \
+               BulletDynamics/ConstraintSolver/btGearConstraint.h \
+               BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h \
+               BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h \
+               BulletDynamics/ConstraintSolver/btSliderConstraint.h \
+               BulletDynamics/ConstraintSolver/btHingeConstraint.h \
+               BulletDynamics/ConstraintSolver/btHinge2Constraint.h \
+               BulletDynamics/ConstraintSolver/btUniversalConstraint.h \
+               BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h \
+               BulletDynamics/Vehicle/btVehicleRaycaster.h \
+               BulletDynamics/Vehicle/btRaycastVehicle.h \
+               BulletDynamics/Vehicle/btWheelInfo.h
+
+libBulletSoftBody_la_SOURCES = \
+               BulletSoftBody/btDefaultSoftBodySolver.cpp \
+               BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp \
+               BulletSoftBody/btSoftBody.cpp \
+               BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp \
+               BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp \
+               BulletSoftBody/btSoftRigidDynamicsWorld.cpp \
+               BulletSoftBody/btSoftBodyHelpers.cpp \
+               BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp \
+               BulletSoftBody/btSparseSDF.h \
+               BulletSoftBody/btSoftRigidCollisionAlgorithm.h \
+               BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h \
+               BulletSoftBody/btSoftBody.h \
+               BulletSoftBody/btSoftSoftCollisionAlgorithm.h \
+               BulletSoftBody/btSoftBodyInternals.h \
+               BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h \
+               BulletSoftBody/btSoftRigidDynamicsWorld.h \
+               BulletSoftBody/btSoftBodyHelpers.h
+
+all: all-am
+
+.SUFFIXES:
+.SUFFIXES: .cpp .lo .o .obj
+$(srcdir)/Makefile.in:  $(srcdir)/Makefile.am  $(am__configure_deps)
+       @for dep in $?; do \
+         case '$(am__configure_deps)' in \
+           *$$dep*) \
+             ( cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh ) \
+               && { if test -f $@; then exit 0; else break; fi; }; \
+             exit 1;; \
+         esac; \
+       done; \
+       echo ' cd $(top_srcdir) && $(AUTOMAKE) --gnu src/Makefile'; \
+       $(am__cd) $(top_srcdir) && \
+         $(AUTOMAKE) --gnu src/Makefile
+.PRECIOUS: Makefile
+Makefile: $(srcdir)/Makefile.in $(top_builddir)/config.status
+       @case '$?' in \
+         *config.status*) \
+           cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh;; \
+         *) \
+           echo ' cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe)'; \
+           cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe);; \
+       esac;
+
+$(top_builddir)/config.status: $(top_srcdir)/configure $(CONFIG_STATUS_DEPENDENCIES)
+       cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+
+$(top_srcdir)/configure:  $(am__configure_deps)
+       cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+$(ACLOCAL_M4):  $(am__aclocal_m4_deps)
+       cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+$(am__aclocal_m4_deps):
+install-libLTLIBRARIES: $(lib_LTLIBRARIES)
+       @$(NORMAL_INSTALL)
+       test -z "$(libdir)" || $(MKDIR_P) "$(DESTDIR)$(libdir)"
+       @list='$(lib_LTLIBRARIES)'; test -n "$(libdir)" || list=; \
+       list2=; for p in $$list; do \
+         if test -f $$p; then \
+           list2="$$list2 $$p"; \
+         else :; fi; \
+       done; \
+       test -z "$$list2" || { \
+         echo " $(LIBTOOL) $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) --mode=install $(INSTALL) $(INSTALL_STRIP_FLAG) $$list2 '$(DESTDIR)$(libdir)'"; \
+         $(LIBTOOL) $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) --mode=install $(INSTALL) $(INSTALL_STRIP_FLAG) $$list2 "$(DESTDIR)$(libdir)"; \
+       }
+
+uninstall-libLTLIBRARIES:
+       @$(NORMAL_UNINSTALL)
+       @list='$(lib_LTLIBRARIES)'; test -n "$(libdir)" || list=; \
+       for p in $$list; do \
+         $(am__strip_dir) \
+         echo " $(LIBTOOL) $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) --mode=uninstall rm -f '$(DESTDIR)$(libdir)/$$f'"; \
+         $(LIBTOOL) $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) --mode=uninstall rm -f "$(DESTDIR)$(libdir)/$$f"; \
+       done
+
+clean-libLTLIBRARIES:
+       -test -z "$(lib_LTLIBRARIES)" || rm -f $(lib_LTLIBRARIES)
+       @list='$(lib_LTLIBRARIES)'; for p in $$list; do \
+         dir="`echo $$p | sed -e 's|/[^/]*$$||'`"; \
+         test "$$dir" != "$$p" || dir=.; \
+         echo "rm -f \"$${dir}/so_locations\""; \
+         rm -f "$${dir}/so_locations"; \
+       done
+libBulletCollision.la: $(libBulletCollision_la_OBJECTS) $(libBulletCollision_la_DEPENDENCIES) 
+       $(CXXLINK) $(am_libBulletCollision_la_rpath) $(libBulletCollision_la_OBJECTS) $(libBulletCollision_la_LIBADD) $(LIBS)
+libBulletDynamics.la: $(libBulletDynamics_la_OBJECTS) $(libBulletDynamics_la_DEPENDENCIES) 
+       $(CXXLINK) $(am_libBulletDynamics_la_rpath) $(libBulletDynamics_la_OBJECTS) $(libBulletDynamics_la_LIBADD) $(LIBS)
+libBulletMultiThreaded.la: $(libBulletMultiThreaded_la_OBJECTS) $(libBulletMultiThreaded_la_DEPENDENCIES) 
+       $(libBulletMultiThreaded_la_LINK) $(am_libBulletMultiThreaded_la_rpath) $(libBulletMultiThreaded_la_OBJECTS) $(libBulletMultiThreaded_la_LIBADD) $(LIBS)
+libBulletSoftBody.la: $(libBulletSoftBody_la_OBJECTS) $(libBulletSoftBody_la_DEPENDENCIES) 
+       $(CXXLINK) $(am_libBulletSoftBody_la_rpath) $(libBulletSoftBody_la_OBJECTS) $(libBulletSoftBody_la_LIBADD) $(LIBS)
+libLinearMath.la: $(libLinearMath_la_OBJECTS) $(libLinearMath_la_DEPENDENCIES) 
+       $(CXXLINK) $(am_libLinearMath_la_rpath) $(libLinearMath_la_OBJECTS) $(libLinearMath_la_LIBADD) $(LIBS)
+
+mostlyclean-compile:
+       -rm -f *.$(OBJEXT)
+
+distclean-compile:
+       -rm -f *.tab.c
+
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/Bullet-C-API.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/SphereTriangleDetector.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btActivatingCollisionAlgorithm.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btAlignedAllocator.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btAxisSweep3.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btBox2dBox2dCollisionAlgorithm.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btBox2dShape.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btBoxBoxCollisionAlgorithm.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btBoxBoxDetector.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btBoxShape.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btBroadphaseProxy.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btBvhTriangleMeshShape.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btCapsuleShape.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btCollisionAlgorithm.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btCollisionDispatcher.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btCollisionObject.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btCollisionShape.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btCollisionWorld.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btCompoundCollisionAlgorithm.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btCompoundShape.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btConcaveShape.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btConeShape.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btConeTwistConstraint.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btContactConstraint.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btContinuousConvexCollision.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btConvex2dConvex2dAlgorithm.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btConvex2dShape.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btConvexCast.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btConvexConcaveCollisionAlgorithm.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btConvexConvexAlgorithm.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btConvexHull.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btConvexHullComputer.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btConvexHullShape.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btConvexInternalShape.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btConvexPlaneCollisionAlgorithm.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btConvexPointCloudShape.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btConvexPolyhedron.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btConvexShape.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btConvexTriangleMeshShape.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btCylinderShape.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btDbvt.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btDbvtBroadphase.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btDefaultCollisionConfiguration.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btDefaultSoftBodySolver.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btDiscreteDynamicsWorld.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btDispatcher.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btEmptyCollisionAlgorithm.Plo@am__quote@
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+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btGeneric6DofSpringConstraint.Plo@am__quote@
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+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btGhostObject.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btGjkConvexCast.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btGjkEpa2.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btGjkEpaPenetrationDepthSolver.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btGjkPairDetector.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btHeightfieldTerrainShape.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btHinge2Constraint.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btHingeConstraint.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btInternalEdgeUtility.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btKinematicCharacterController.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/btManifoldResult.Plo@am__quote@
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+
+INCLUDE_DIRECTORIES(
+       ${BULLET_PHYSICS_SOURCE_DIR}/src
+       ${VECTOR_MATH_INCLUDE}
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+       MiniCL.cpp
+       MiniCLTaskScheduler.cpp
+       MiniCLTask/MiniCLTask.cpp
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+       MiniCLTaskScheduler.h
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+       ${MiniCLTask_HDRS}
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+ADD_LIBRARY(MiniCL ${MiniCL_SRCS} ${MiniCL_HDRS} )
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+SET_TARGET_PROPERTIES(MiniCL PROPERTIES SOVERSION ${BULLET_VERSION})
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+       TARGET_LINK_LIBRARIES(MiniCL BulletMultiThreaded BulletDynamics BulletCollision)
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+       IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+               #INSTALL of other files requires CMake 2.6
+               IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+#                      IF(INSTALL_EXTRA_LIBS)
+                               IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+                                       INSTALL(TARGETS MiniCL DESTINATION .)
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+                       SET_TARGET_PROPERTIES(MiniCL PROPERTIES FRAMEWORK true)
+               
+                       SET_TARGET_PROPERTIES(MiniCL PROPERTIES PUBLIC_HEADER "${Root_HDRS}")
+                       # Have to list out sub-directories manually:
+                       SET_PROPERTY(SOURCE ${MiniCLTask_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/MiniCLTask)
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+               ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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+
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+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx
+
+#=============================================================================
+# Targets provided globally by CMake.
+
+# Special rule for the target edit_cache
+edit_cache:
+       @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake cache editor..."
+       "/Applications/CMake 2.8-6.app/Contents/bin/ccmake" -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
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+install: preinstall
+       @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
+       "/Applications/CMake 2.8-6.app/Contents/bin/cmake" -P cmake_install.cmake
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+
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+install/fast: preinstall/fast
+       @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
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+       @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..."
+       "/Applications/CMake 2.8-6.app/Contents/bin/cmake" -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
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+.PHONY : list_install_components
+
+# Special rule for the target list_install_components
+list_install_components/fast: list_install_components
+.PHONY : list_install_components/fast
+
+# Special rule for the target rebuild_cache
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+       @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..."
+       "/Applications/CMake 2.8-6.app/Contents/bin/cmake" -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
+.PHONY : rebuild_cache
+
+# Special rule for the target rebuild_cache
+rebuild_cache/fast: rebuild_cache
+.PHONY : rebuild_cache/fast
+
+# The main all target
+all: cmake_check_build_system
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(CMAKE_COMMAND) -E cmake_progress_start /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/CMakeFiles /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/MiniCL/CMakeFiles/progress.marks
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f CMakeFiles/Makefile2 src/MiniCL/all
+       $(CMAKE_COMMAND) -E cmake_progress_start /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/CMakeFiles 0
+.PHONY : all
+
+# The main clean target
+clean:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f CMakeFiles/Makefile2 src/MiniCL/clean
+.PHONY : clean
+
+# The main clean target
+clean/fast: clean
+.PHONY : clean/fast
+
+# Prepare targets for installation.
+preinstall: all
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f CMakeFiles/Makefile2 src/MiniCL/preinstall
+.PHONY : preinstall
+
+# Prepare targets for installation.
+preinstall/fast:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f CMakeFiles/Makefile2 src/MiniCL/preinstall
+.PHONY : preinstall/fast
+
+# clear depends
+depend:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
+.PHONY : depend
+
+# Convenience name for target.
+src/MiniCL/CMakeFiles/MiniCL.dir/rule:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f CMakeFiles/Makefile2 src/MiniCL/CMakeFiles/MiniCL.dir/rule
+.PHONY : src/MiniCL/CMakeFiles/MiniCL.dir/rule
+
+# Convenience name for target.
+MiniCL: src/MiniCL/CMakeFiles/MiniCL.dir/rule
+.PHONY : MiniCL
+
+# fast build rule for target.
+MiniCL/fast:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/MiniCL/CMakeFiles/MiniCL.dir/build.make src/MiniCL/CMakeFiles/MiniCL.dir/build
+.PHONY : MiniCL/fast
+
+# target to build an object file
+MiniCL.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/MiniCL/CMakeFiles/MiniCL.dir/build.make src/MiniCL/CMakeFiles/MiniCL.dir/MiniCL.o
+.PHONY : MiniCL.o
+
+# target to preprocess a source file
+MiniCL.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/MiniCL/CMakeFiles/MiniCL.dir/build.make src/MiniCL/CMakeFiles/MiniCL.dir/MiniCL.i
+.PHONY : MiniCL.i
+
+# target to generate assembly for a file
+MiniCL.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/MiniCL/CMakeFiles/MiniCL.dir/build.make src/MiniCL/CMakeFiles/MiniCL.dir/MiniCL.s
+.PHONY : MiniCL.s
+
+# target to build an object file
+MiniCLTask/MiniCLTask.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/MiniCL/CMakeFiles/MiniCL.dir/build.make src/MiniCL/CMakeFiles/MiniCL.dir/MiniCLTask/MiniCLTask.o
+.PHONY : MiniCLTask/MiniCLTask.o
+
+# target to preprocess a source file
+MiniCLTask/MiniCLTask.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/MiniCL/CMakeFiles/MiniCL.dir/build.make src/MiniCL/CMakeFiles/MiniCL.dir/MiniCLTask/MiniCLTask.i
+.PHONY : MiniCLTask/MiniCLTask.i
+
+# target to generate assembly for a file
+MiniCLTask/MiniCLTask.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/MiniCL/CMakeFiles/MiniCL.dir/build.make src/MiniCL/CMakeFiles/MiniCL.dir/MiniCLTask/MiniCLTask.s
+.PHONY : MiniCLTask/MiniCLTask.s
+
+# target to build an object file
+MiniCLTaskScheduler.o:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/MiniCL/CMakeFiles/MiniCL.dir/build.make src/MiniCL/CMakeFiles/MiniCL.dir/MiniCLTaskScheduler.o
+.PHONY : MiniCLTaskScheduler.o
+
+# target to preprocess a source file
+MiniCLTaskScheduler.i:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/MiniCL/CMakeFiles/MiniCL.dir/build.make src/MiniCL/CMakeFiles/MiniCL.dir/MiniCLTaskScheduler.i
+.PHONY : MiniCLTaskScheduler.i
+
+# target to generate assembly for a file
+MiniCLTaskScheduler.s:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(MAKE) -f src/MiniCL/CMakeFiles/MiniCL.dir/build.make src/MiniCL/CMakeFiles/MiniCL.dir/MiniCLTaskScheduler.s
+.PHONY : MiniCLTaskScheduler.s
+
+# Help Target
+help:
+       @echo "The following are some of the valid targets for this Makefile:"
+       @echo "... all (the default if no target is provided)"
+       @echo "... clean"
+       @echo "... depend"
+       @echo "... MiniCL"
+       @echo "... edit_cache"
+       @echo "... install"
+       @echo "... install/local"
+       @echo "... install/strip"
+       @echo "... list_install_components"
+       @echo "... rebuild_cache"
+       @echo "... MiniCL.o"
+       @echo "... MiniCL.i"
+       @echo "... MiniCL.s"
+       @echo "... MiniCLTask/MiniCLTask.o"
+       @echo "... MiniCLTask/MiniCLTask.i"
+       @echo "... MiniCLTask/MiniCLTask.s"
+       @echo "... MiniCLTaskScheduler.o"
+       @echo "... MiniCLTaskScheduler.i"
+       @echo "... MiniCLTaskScheduler.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+       cd /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/MiniCL/MiniCL.cpp b/extensions/gdx-bullet/jni/src/bullet/MiniCL/MiniCL.cpp
new file mode 100644 (file)
index 0000000..ba0865a
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/MiniCL/MiniCL.cpp
@@ -0,0 +1,788 @@
+/*
+   Copyright (C) 2010 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+*/
+
+
+#include "MiniCL/cl.h"
+#define __PHYSICS_COMMON_H__ 1
+#ifdef _WIN32
+#include "BulletMultiThreaded/Win32ThreadSupport.h"
+#endif
+
+#include "BulletMultiThreaded/PlatformDefinitions.h"
+#ifdef USE_PTHREADS
+#include "BulletMultiThreaded/PosixThreadSupport.h"
+#endif
+
+
+#include "BulletMultiThreaded/SequentialThreadSupport.h"
+#include "MiniCLTaskScheduler.h"
+#include "MiniCLTask/MiniCLTask.h"
+#include "LinearMath/btMinMax.h"
+#include <stdio.h>
+#include <stddef.h>
+
+//#define DEBUG_MINICL_KERNELS 1
+
+static const char* spPlatformID = "MiniCL, SCEA";
+static const char* spDriverVersion= "1.0";
+
+CL_API_ENTRY cl_int CL_API_CALL clGetPlatformIDs(
+       cl_uint           num_entries,
+    cl_platform_id *  platforms,
+    cl_uint *         num_platforms ) CL_API_SUFFIX__VERSION_1_0
+{
+       if(platforms != NULL)
+       {
+               if(num_entries <= 0)
+               {
+                       return CL_INVALID_VALUE; 
+               }
+               *((const char**)platforms) = spPlatformID;
+       }
+       if(num_platforms != NULL)
+       {
+               *num_platforms = 1;
+       }
+       return CL_SUCCESS;
+}
+
+
+CL_API_ENTRY cl_int CL_API_CALL clGetPlatformInfo(
+       cl_platform_id   platform, 
+       cl_platform_info param_name,
+       size_t           param_value_size, 
+       void *           param_value,
+       size_t *         param_value_size_ret) CL_API_SUFFIX__VERSION_1_0
+{
+       char* pId = (char*)platform;
+       if(strcmp(pId, spPlatformID))
+       {
+                       return CL_INVALID_PLATFORM; 
+       }
+       switch(param_name)
+       {
+       case CL_PLATFORM_VERSION:
+               {
+                       if(param_value_size < (strlen(spDriverVersion) + 1))
+                       {
+                               return CL_INVALID_VALUE; 
+                       }
+                       strcpy((char*)param_value, spDriverVersion);
+                       if(param_value_size_ret != NULL)
+                       {
+                               *param_value_size_ret = strlen(spDriverVersion) + 1;
+                       }
+                       break;
+               }
+               case CL_PLATFORM_NAME:
+               case CL_PLATFORM_VENDOR :
+                       if(param_value_size < (strlen(spPlatformID) + 1))
+                       {
+                               return CL_INVALID_VALUE; 
+                       }
+                       strcpy((char*)param_value, spPlatformID);
+                       if(param_value_size_ret != NULL)
+                       {
+                               *param_value_size_ret = strlen(spPlatformID) + 1;
+                       }
+                       break;
+               default : 
+                       return CL_INVALID_VALUE; 
+       }
+       return CL_SUCCESS;
+}
+
+
+
+
+CL_API_ENTRY cl_int CL_API_CALL clGetDeviceInfo(
+       cl_device_id            device ,
+       cl_device_info          param_name ,
+       size_t                  param_value_size ,
+       void *                  param_value ,
+       size_t *                param_value_size_ret) CL_API_SUFFIX__VERSION_1_0
+{
+
+       switch (param_name)
+       {
+       case CL_DEVICE_NAME:
+               {
+                       char deviceName[] = "MiniCL CPU";
+                       unsigned int nameLen = (unsigned int)strlen(deviceName)+1;
+                       btAssert(param_value_size>strlen(deviceName));
+                       if (nameLen < param_value_size)
+                       {
+                               const char* cpuName = "MiniCL CPU";
+                               sprintf((char*)param_value,"%s",cpuName);
+                       } else
+                       {
+                               printf("error: param_value_size should be at least %d, but it is %zu\n",nameLen,param_value_size);
+                               return CL_INVALID_VALUE; 
+                       }
+                       break;
+               }
+       case CL_DEVICE_TYPE:
+               {
+                       if (param_value_size>=sizeof(cl_device_type))
+                       {
+                               cl_device_type* deviceType = (cl_device_type*)param_value;
+                               *deviceType = CL_DEVICE_TYPE_CPU;
+                       } else
+                       {
+                               printf("error: param_value_size should be at least %zu\n",sizeof(cl_device_type));
+                               return CL_INVALID_VALUE; 
+                       }
+                       break;
+               }
+       case CL_DEVICE_MAX_COMPUTE_UNITS:
+               {
+                       if (param_value_size>=sizeof(cl_uint))
+                       {
+                               cl_uint* numUnits = (cl_uint*)param_value;
+                               *numUnits= 4;
+                       } else
+                       {
+                               printf("error: param_value_size should be at least %zu\n",sizeof(cl_uint));
+                               return CL_INVALID_VALUE; 
+                       }
+
+                       break;
+               }
+       case CL_DEVICE_MAX_WORK_ITEM_SIZES:
+               {
+                       size_t workitem_size[3];
+
+                       if (param_value_size>=sizeof(workitem_size))
+                       {
+                               size_t* workItemSize = (size_t*)param_value;
+                               workItemSize[0] = 64;
+                               workItemSize[1] = 24;
+                               workItemSize[2] = 16;
+                       } else
+                       {
+                               printf("error: param_value_size should be at least %zu\n",sizeof(cl_uint));
+                               return CL_INVALID_VALUE; 
+                       }
+                       break;
+               }
+       case CL_DEVICE_MAX_CLOCK_FREQUENCY:
+               {
+                        cl_uint* clock_frequency = (cl_uint*)param_value;
+                        *clock_frequency = 3*1024;
+                       break;
+               }
+
+       case CL_DEVICE_VENDOR   :
+               {
+                       if(param_value_size < (strlen(spPlatformID) + 1))
+                       {
+                               return CL_INVALID_VALUE; 
+                       }
+                       strcpy((char*)param_value, spPlatformID);
+                       if(param_value_size_ret != NULL)
+                       {
+                               *param_value_size_ret = strlen(spPlatformID) + 1;
+                       }
+                       break;
+               }
+       case CL_DRIVER_VERSION:
+               {
+                       if(param_value_size < (strlen(spDriverVersion) + 1))
+                       {
+                               return CL_INVALID_VALUE; 
+                       }
+                       strcpy((char*)param_value, spDriverVersion);
+                       if(param_value_size_ret != NULL)
+                       {
+                               *param_value_size_ret = strlen(spDriverVersion) + 1;
+                       }
+
+                       break;
+               }
+       case CL_DEVICE_MAX_WORK_ITEM_DIMENSIONS:
+               {
+                        cl_uint* maxDimensions = (cl_uint*)param_value;
+                        *maxDimensions = 1;
+                        break;
+               }
+               case CL_DEVICE_MAX_WORK_GROUP_SIZE:
+               {
+                        cl_uint* maxWorkGroupSize = (cl_uint*)param_value;
+                        *maxWorkGroupSize = 128;//1;
+                        break;
+               }
+               case CL_DEVICE_ADDRESS_BITS:
+               {
+                        cl_uint* addressBits = (cl_uint*)param_value;
+                        *addressBits= 32; //@todo: should this be 64 for 64bit builds?
+                        break;
+               }
+               case CL_DEVICE_MAX_MEM_ALLOC_SIZE:
+                       {
+                               cl_ulong* maxMemAlloc = (cl_ulong*)param_value;
+                               *maxMemAlloc= 512*1024*1024; //this "should be enough for everyone" ?
+                        break;
+                       }
+               case CL_DEVICE_GLOBAL_MEM_SIZE:
+                       {
+                               cl_ulong* maxMemAlloc = (cl_ulong*)param_value;
+                               *maxMemAlloc= 1024*1024*1024; //this "should be enough for everyone" ?
+                        break;
+                       }
+
+               case CL_DEVICE_ERROR_CORRECTION_SUPPORT:
+                       {
+                       cl_bool* error_correction_support = (cl_bool*)param_value;
+                       *error_correction_support = CL_FALSE;
+                       break;
+                       }
+
+               case CL_DEVICE_LOCAL_MEM_TYPE:
+                       {
+                       cl_device_local_mem_type* local_mem_type = (cl_device_local_mem_type*)param_value;
+                       *local_mem_type = CL_GLOBAL;
+                       break;
+                       }
+               case CL_DEVICE_LOCAL_MEM_SIZE:
+                       {
+                               cl_ulong* localmem = (cl_ulong*) param_value;
+                               *localmem = 32*1024;
+                               break;
+                       }
+
+               case CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE:
+                       {
+                               cl_ulong* localmem = (cl_ulong*) param_value;
+                               *localmem = 64*1024;
+                               break;
+                       }
+               case CL_DEVICE_QUEUE_PROPERTIES:
+                       {
+                               cl_command_queue_properties* queueProp = (cl_command_queue_properties*) param_value;
+                               memset(queueProp,0,param_value_size);
+
+                               break;
+                       }
+               case CL_DEVICE_IMAGE_SUPPORT:
+                       {
+                               cl_bool* imageSupport = (cl_bool*) param_value;
+                               *imageSupport = CL_FALSE;
+                               break;
+                       }
+
+               case CL_DEVICE_MAX_WRITE_IMAGE_ARGS:
+               case CL_DEVICE_MAX_READ_IMAGE_ARGS:
+                       {
+                               cl_uint* imageArgs = (cl_uint*) param_value;
+                               *imageArgs = 0;
+                               break;
+                       }
+               case CL_DEVICE_IMAGE3D_MAX_DEPTH:
+               case CL_DEVICE_IMAGE3D_MAX_HEIGHT:
+               case CL_DEVICE_IMAGE2D_MAX_HEIGHT:
+               case CL_DEVICE_IMAGE3D_MAX_WIDTH:
+               case CL_DEVICE_IMAGE2D_MAX_WIDTH:
+                       {
+                               size_t* maxSize = (size_t*) param_value;
+                               *maxSize = 0;
+                               break;
+                       }
+
+               case CL_DEVICE_EXTENSIONS:
+                       {
+                               char* extensions = (char*) param_value;
+                               *extensions = 0;
+                               break;
+                       }
+
+               case CL_DEVICE_PREFERRED_VECTOR_WIDTH_DOUBLE:
+               case CL_DEVICE_PREFERRED_VECTOR_WIDTH_FLOAT:
+               case CL_DEVICE_PREFERRED_VECTOR_WIDTH_LONG:
+               case CL_DEVICE_PREFERRED_VECTOR_WIDTH_INT:
+               case CL_DEVICE_PREFERRED_VECTOR_WIDTH_SHORT:
+               case CL_DEVICE_PREFERRED_VECTOR_WIDTH_CHAR:
+                       {
+                               cl_uint* width  = (cl_uint*) param_value;
+                               *width = 1;
+                               break;
+                       }
+                       
+       default:
+               {
+                       printf("error: unsupported param_name:%d\n",param_name);
+               }
+       }
+
+
+       return 0;
+}
+
+CL_API_ENTRY cl_int CL_API_CALL clReleaseMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0
+{
+       return 0;
+}
+
+
+
+CL_API_ENTRY cl_int CL_API_CALL clReleaseCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0
+{
+       return 0;
+}
+
+CL_API_ENTRY cl_int CL_API_CALL clReleaseProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0
+{
+       return 0;
+}
+
+CL_API_ENTRY cl_int CL_API_CALL clReleaseKernel(cl_kernel   /* kernel */) CL_API_SUFFIX__VERSION_1_0
+{
+       return 0;
+}
+
+
+// Enqueued Commands APIs
+CL_API_ENTRY cl_int CL_API_CALL clEnqueueReadBuffer(cl_command_queue     command_queue ,
+                    cl_mem               buffer ,
+                    cl_bool             /* blocking_read */,
+                    size_t               offset ,
+                    size_t               cb , 
+                    void *               ptr ,
+                    cl_uint             /* num_events_in_wait_list */,
+                    const cl_event *    /* event_wait_list */,
+                    cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_0
+{
+       MiniCLTaskScheduler* scheduler = (MiniCLTaskScheduler*) command_queue;
+
+       ///wait for all work items to be completed
+       scheduler->flush();
+
+       memcpy(ptr,(char*)buffer + offset,cb);
+       return 0;
+}
+
+
+CL_API_ENTRY cl_int clGetProgramBuildInfo(cl_program            /* program */,
+                      cl_device_id          /* device */,
+                      cl_program_build_info /* param_name */,
+                      size_t                /* param_value_size */,
+                      void *                /* param_value */,
+                      size_t *              /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0
+{
+
+       return 0;
+}
+
+
+// Program Object APIs
+CL_API_ENTRY cl_program
+clCreateProgramWithSource(cl_context         context ,
+                          cl_uint           /* count */,
+                          const char **     /* strings */,
+                          const size_t *    /* lengths */,
+                          cl_int *          errcode_ret ) CL_API_SUFFIX__VERSION_1_0
+{
+       *errcode_ret = CL_SUCCESS;
+       return (cl_program)context;
+}
+
+CL_API_ENTRY cl_int CL_API_CALL clEnqueueWriteBuffer(cl_command_queue     command_queue ,
+                    cl_mem               buffer ,
+                    cl_bool             /* blocking_read */,
+                    size_t              offset,
+                    size_t               cb , 
+                    const void *         ptr ,
+                    cl_uint             /* num_events_in_wait_list */,
+                    const cl_event *    /* event_wait_list */,
+                    cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_0
+{
+       MiniCLTaskScheduler* scheduler = (MiniCLTaskScheduler*) command_queue;
+
+       ///wait for all work items to be completed
+       scheduler->flush();
+
+       memcpy((char*)buffer + offset, ptr,cb);
+       return 0;
+}
+
+CL_API_ENTRY cl_int CL_API_CALL clFlush(cl_command_queue  command_queue)
+{
+       MiniCLTaskScheduler* scheduler = (MiniCLTaskScheduler*) command_queue;
+       ///wait for all work items to be completed
+       scheduler->flush();
+       return 0;
+}
+
+
+CL_API_ENTRY cl_int CL_API_CALL clEnqueueNDRangeKernel(cl_command_queue /* command_queue */,
+                       cl_kernel         clKernel ,
+                       cl_uint           work_dim ,
+                       const size_t *   /* global_work_offset */,
+                       const size_t *    global_work_size ,
+                       const size_t *   /* local_work_size */,
+                       cl_uint          /* num_events_in_wait_list */,
+                       const cl_event * /* event_wait_list */,
+                       cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0
+{
+
+       
+       MiniCLKernel* kernel = (MiniCLKernel*) clKernel;
+       for (unsigned int ii=0;ii<work_dim;ii++)
+       {
+               int maxTask = kernel->m_scheduler->getMaxNumOutstandingTasks();
+               int numWorkItems = global_work_size[ii];
+
+//             //at minimum 64 work items per task
+//             int numWorkItemsPerTask = btMax(64,numWorkItems / maxTask);
+               int numWorkItemsPerTask = numWorkItems / maxTask;
+               if (!numWorkItemsPerTask) numWorkItemsPerTask = 1;
+
+               for (int t=0;t<numWorkItems;)
+               {
+                       //Performance Hint: tweak this number during benchmarking
+                       int endIndex = (t+numWorkItemsPerTask) < numWorkItems ? t+numWorkItemsPerTask : numWorkItems;
+                       kernel->m_scheduler->issueTask(t, endIndex, kernel);
+                       t = endIndex;
+               }
+       }
+/*
+
+       void* bla = 0;
+
+       scheduler->issueTask(bla,2,3);
+       scheduler->flush();
+
+       */
+
+       return 0;
+}
+
+#define LOCAL_BUF_SIZE 32768
+static int sLocalMemBuf[LOCAL_BUF_SIZE * 4 + 16];
+static int* spLocalBufCurr = NULL;
+static int sLocalBufUsed = LOCAL_BUF_SIZE; // so it will be reset at the first call
+static void* localBufMalloc(int size)
+{
+       int size16 = (size + 15) >> 4; // in 16-byte units
+       if((sLocalBufUsed + size16) > LOCAL_BUF_SIZE)
+       { // reset
+               spLocalBufCurr = sLocalMemBuf;
+               while((size_t)spLocalBufCurr & 0x0F) spLocalBufCurr++; // align to 16 bytes
+               sLocalBufUsed = 0;
+       }
+       void* ret = spLocalBufCurr;
+       spLocalBufCurr += size16 * 4;
+       sLocalBufUsed += size;
+       return ret;
+}
+
+
+
+CL_API_ENTRY cl_int CL_API_CALL clSetKernelArg(cl_kernel    clKernel ,
+               cl_uint      arg_index ,
+               size_t       arg_size ,
+               const void *  arg_value ) CL_API_SUFFIX__VERSION_1_0
+{
+       MiniCLKernel* kernel = (MiniCLKernel* ) clKernel;
+       btAssert(arg_size <= MINICL_MAX_ARGLENGTH);
+       if (arg_index>MINI_CL_MAX_ARG)
+       {
+               printf("error: clSetKernelArg arg_index (%u) exceeds %u\n",arg_index,MINI_CL_MAX_ARG);
+       } else
+       {
+               if (arg_size>MINICL_MAX_ARGLENGTH)
+               //if (arg_size != MINICL_MAX_ARGLENGTH)
+               {
+                       printf("error: clSetKernelArg argdata too large: %zu (maximum is %zu)\n",arg_size,MINICL_MAX_ARGLENGTH);
+               } 
+               else
+               {
+                       if(arg_value == NULL)
+                       {       // this is only for __local memory qualifier
+                               void* ptr = localBufMalloc(arg_size);
+                               kernel->m_argData[arg_index] = ptr;
+                       }
+                       else
+                       {
+                               memcpy(&(kernel->m_argData[arg_index]), arg_value, arg_size);
+                       }
+                       kernel->m_argSizes[arg_index] = arg_size;
+                       if(arg_index >= kernel->m_numArgs)
+                       {
+                               kernel->m_numArgs = arg_index + 1;
+                               kernel->updateLauncher();
+                       }
+               }
+       }
+       return 0;
+}
+
+// Kernel Object APIs
+CL_API_ENTRY cl_kernel CL_API_CALL clCreateKernel(cl_program       program ,
+               const char *     kernel_name ,
+               cl_int *         errcode_ret ) CL_API_SUFFIX__VERSION_1_0
+{
+       MiniCLTaskScheduler* scheduler = (MiniCLTaskScheduler*) program;
+       int nameLen = strlen(kernel_name);
+       if(nameLen >= MINI_CL_MAX_KERNEL_NAME)
+       {
+               *errcode_ret = CL_INVALID_KERNEL_NAME;
+               return NULL;
+       }
+
+       MiniCLKernel* kernel = new MiniCLKernel();
+
+       strcpy(kernel->m_name, kernel_name);
+       kernel->m_numArgs = 0;
+
+       //kernel->m_kernelProgramCommandId = scheduler->findProgramCommandIdByName(kernel_name);
+       //if (kernel->m_kernelProgramCommandId>=0)
+       //{
+       //      *errcode_ret = CL_SUCCESS;
+       //} else
+       //{
+       //      *errcode_ret = CL_INVALID_KERNEL_NAME;
+       //}
+       kernel->m_scheduler = scheduler;
+       if(kernel->registerSelf() == NULL)
+       {
+               *errcode_ret = CL_INVALID_KERNEL_NAME;
+               delete kernel;
+               return NULL;
+       }
+       else
+       {
+               *errcode_ret = CL_SUCCESS;
+       }
+
+       return (cl_kernel)kernel;
+
+}
+
+
+CL_API_ENTRY cl_int CL_API_CALL clBuildProgram(cl_program           /* program */,
+               cl_uint              /* num_devices */,
+               const cl_device_id * /* device_list */,
+               const char *         /* options */, 
+               void (*pfn_notify)(cl_program /* program */, void * /* user_data */),
+               void *               /* user_data */) CL_API_SUFFIX__VERSION_1_0
+{
+       return CL_SUCCESS;
+}
+
+CL_API_ENTRY cl_program CL_API_CALL clCreateProgramWithBinary(cl_context                     context ,
+                          cl_uint                        /* num_devices */,
+                          const cl_device_id *           /* device_list */,
+                          const size_t *                 /* lengths */,
+                          const unsigned char **         /* binaries */,
+                          cl_int *                       /* binary_status */,
+                          cl_int *                       /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0
+{
+       return (cl_program)context;
+}
+
+
+// Memory Object APIs
+CL_API_ENTRY cl_mem CL_API_CALL clCreateBuffer(cl_context   /* context */,
+               cl_mem_flags flags ,
+               size_t       size,
+               void *       host_ptr ,
+               cl_int *     errcode_ret ) CL_API_SUFFIX__VERSION_1_0
+{
+       cl_mem buf = (cl_mem)malloc(size);
+       if ((flags&CL_MEM_COPY_HOST_PTR) && host_ptr)
+       {
+               memcpy(buf,host_ptr,size);
+       }
+       *errcode_ret = 0;
+       return buf;
+}
+
+// Command Queue APIs
+CL_API_ENTRY cl_command_queue CL_API_CALL clCreateCommandQueue(cl_context                      context , 
+                     cl_device_id                   /* device */, 
+                     cl_command_queue_properties    /* properties */,
+                     cl_int *                        errcode_ret ) CL_API_SUFFIX__VERSION_1_0
+{
+       *errcode_ret = 0;
+       return (cl_command_queue) context;
+}
+
+extern CL_API_ENTRY cl_int CL_API_CALL clGetContextInfo(cl_context         /* context */, 
+                 cl_context_info    param_name , 
+                 size_t             param_value_size , 
+                 void *             param_value, 
+                 size_t *           param_value_size_ret ) CL_API_SUFFIX__VERSION_1_0
+{
+
+       switch (param_name)
+       {
+       case CL_CONTEXT_DEVICES:
+               {
+                       if (!param_value_size)
+                       {
+                               *param_value_size_ret = 13;
+                       } else
+                       {
+                               const char* testName = "MiniCL_Test.";
+                               sprintf((char*)param_value,"%s",testName);
+                       }
+                       break;
+               };
+       default:
+               {
+                       printf("unsupported\n");
+               }
+       }
+       
+       return 0;
+}
+
+
+
+CL_API_ENTRY cl_context CL_API_CALL clCreateContextFromType(const cl_context_properties * /* properties */,
+                        cl_device_type           device_type ,
+                        void (*pfn_notify)(const char *, const void *, size_t, void *) /* pfn_notify */,
+                        void *                  /* user_data */,
+                        cl_int *                 errcode_ret ) CL_API_SUFFIX__VERSION_1_0
+{
+       int maxNumOutstandingTasks = 4;
+//     int maxNumOutstandingTasks = 2;
+//     int maxNumOutstandingTasks = 1;
+       gMiniCLNumOutstandingTasks = maxNumOutstandingTasks;
+       const int maxNumOfThreadSupports = 8;
+       static int sUniqueThreadSupportIndex = 0;
+       static const char* sUniqueThreadSupportName[maxNumOfThreadSupports] = 
+       {
+               "MiniCL_0", "MiniCL_1", "MiniCL_2", "MiniCL_3", "MiniCL_4", "MiniCL_5", "MiniCL_6", "MiniCL_7" 
+       };
+
+       btThreadSupportInterface* threadSupport = 0;
+
+       if (device_type==CL_DEVICE_TYPE_DEBUG)
+       {
+               SequentialThreadSupport::SequentialThreadConstructionInfo stc("MiniCL",processMiniCLTask,createMiniCLLocalStoreMemory);
+               threadSupport = new SequentialThreadSupport(stc);
+       } else
+       {
+
+#if _WIN32
+       btAssert(sUniqueThreadSupportIndex < maxNumOfThreadSupports);
+       const char* bla = "MiniCL";
+       threadSupport = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
+//                                                             bla,
+                                                               sUniqueThreadSupportName[sUniqueThreadSupportIndex++],
+                                                               processMiniCLTask, //processCollisionTask,
+                                                               createMiniCLLocalStoreMemory,//createCollisionLocalStoreMemory,
+                                                               maxNumOutstandingTasks));
+#else
+
+#ifdef USE_PTHREADS
+               PosixThreadSupport::ThreadConstructionInfo constructionInfo("PosixThreads",
+                                                                                                                                       processMiniCLTask,
+                                                                                                                                       createMiniCLLocalStoreMemory,
+                                                                                                                                       maxNumOutstandingTasks);
+               threadSupport = new PosixThreadSupport(constructionInfo);
+
+#else
+       ///todo: add posix thread support for other platforms
+       SequentialThreadSupport::SequentialThreadConstructionInfo stc("MiniCL",processMiniCLTask,createMiniCLLocalStoreMemory);
+       threadSupport = new SequentialThreadSupport(stc);
+#endif //USE_PTHREADS
+#endif
+
+       }
+       
+       
+       MiniCLTaskScheduler* scheduler = new MiniCLTaskScheduler(threadSupport,maxNumOutstandingTasks);
+
+       *errcode_ret = 0;
+       return (cl_context)scheduler;
+}
+
+CL_API_ENTRY cl_int CL_API_CALL
+clGetDeviceIDs(cl_platform_id   /* platform */,
+               cl_device_type   /* device_type */, 
+               cl_uint          /* num_entries */, 
+               cl_device_id *   /* devices */, 
+               cl_uint *        /* num_devices */) CL_API_SUFFIX__VERSION_1_0
+{
+       return 0;
+}
+
+CL_API_ENTRY cl_context CL_API_CALL
+clCreateContext(const cl_context_properties *  properties ,
+                cl_uint                        num_devices ,
+                const cl_device_id *           devices ,
+                 void (*pfn_notify)(const char *, const void *, size_t, void *),
+                void *                         user_data ,
+                cl_int *                       errcode_ret ) CL_API_SUFFIX__VERSION_1_0
+{
+       
+       return  clCreateContextFromType(properties,CL_DEVICE_TYPE_ALL,pfn_notify,user_data,errcode_ret);
+}
+
+CL_API_ENTRY cl_int CL_API_CALL clReleaseContext(cl_context  context ) CL_API_SUFFIX__VERSION_1_0
+{
+
+       MiniCLTaskScheduler* scheduler = (MiniCLTaskScheduler*) context;
+       
+       btThreadSupportInterface* threadSupport = scheduler->getThreadSupportInterface();
+       delete scheduler;
+       delete threadSupport;
+       
+       return 0;
+}
+extern CL_API_ENTRY cl_int CL_API_CALL
+clFinish(cl_command_queue command_queue ) CL_API_SUFFIX__VERSION_1_0
+{
+       MiniCLTaskScheduler* scheduler = (MiniCLTaskScheduler*) command_queue;
+       ///wait for all work items to be completed
+       scheduler->flush();
+       return CL_SUCCESS;
+}
+
+extern CL_API_ENTRY cl_int CL_API_CALL 
+clGetProgramInfo(cl_program         /* program */,
+                 cl_program_info    /* param_name */,
+                 size_t             /* param_value_size */,
+                 void *             /* param_value */,
+                 size_t *           /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0
+{
+   return 0;
+}
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetKernelWorkGroupInfo(cl_kernel                   kernel ,
+                         cl_device_id               /* device */,
+                         cl_kernel_work_group_info  wgi/* param_name */,
+                         size_t   sz                  /* param_value_size */,
+                         void *     ptr                /* param_value */,
+                         size_t *                   /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0
+{
+       if((wgi == CL_KERNEL_WORK_GROUP_SIZE)
+        &&(sz == sizeof(size_t))
+        &&(ptr != NULL))
+       {
+               MiniCLKernel* miniCLKernel = (MiniCLKernel*)kernel;
+               MiniCLTaskScheduler* scheduler = miniCLKernel->m_scheduler;
+               *((size_t*)ptr) = scheduler->getMaxNumOutstandingTasks();
+               return CL_SUCCESS;
+       }
+       else
+       {
+               return CL_INVALID_VALUE;
+       }
+}

diff --git a/extensions/gdx-bullet/jni/src/bullet/MiniCL/MiniCLTask/MiniCLTask.cpp b/extensions/gdx-bullet/jni/src/bullet/MiniCL/MiniCLTask/MiniCLTask.cpp
new file mode 100644 (file)
index 0000000..a56e96a
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/MiniCL/MiniCLTask/MiniCLTask.cpp
@@ -0,0 +1,74 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, Copyright (c) 2007 Erwin Coumans
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+*/
+
+
+#include "MiniCLTask.h"
+#include "BulletMultiThreaded/PlatformDefinitions.h"
+#include "BulletMultiThreaded/SpuFakeDma.h"
+#include "LinearMath/btMinMax.h"
+#include "MiniCLTask.h"
+#include "MiniCL/MiniCLTaskScheduler.h"
+
+
+#ifdef __SPU__
+#include <spu_printf.h>
+#else
+#include <stdio.h>
+#define spu_printf printf
+#endif
+
+int gMiniCLNumOutstandingTasks = 0;
+
+struct MiniCLTask_LocalStoreMemory
+{
+       
+};
+
+
+//-- MAIN METHOD
+void processMiniCLTask(void* userPtr, void* lsMemory)
+{
+       //      BT_PROFILE("processSampleTask");
+
+       MiniCLTask_LocalStoreMemory* localMemory = (MiniCLTask_LocalStoreMemory*)lsMemory;
+
+       MiniCLTaskDesc* taskDescPtr = (MiniCLTaskDesc*)userPtr;
+       MiniCLTaskDesc& taskDesc = *taskDescPtr;
+
+       for (unsigned int i=taskDesc.m_firstWorkUnit;i<taskDesc.m_lastWorkUnit;i++)
+       {
+               taskDesc.m_kernel->m_launcher(&taskDesc, i);
+       }
+
+//     printf("Compute Unit[%d] executed kernel %d work items [%d..%d)\n",taskDesc.m_taskId,taskDesc.m_kernelProgramId,taskDesc.m_firstWorkUnit,taskDesc.m_lastWorkUnit);
+       
+}
+
+
+#if defined(__CELLOS_LV2__) || defined (LIBSPE2)
+
+ATTRIBUTE_ALIGNED16(MiniCLTask_LocalStoreMemory        gLocalStoreMemory);
+
+void* createMiniCLLocalStoreMemory()
+{
+       return &gLocalStoreMemory;
+}
+#else
+void* createMiniCLLocalStoreMemory()
+{
+       return new MiniCLTask_LocalStoreMemory;
+};
+
+#endif

diff --git a/extensions/gdx-bullet/jni/src/bullet/MiniCL/MiniCLTask/MiniCLTask.h b/extensions/gdx-bullet/jni/src/bullet/MiniCL/MiniCLTask/MiniCLTask.h
new file mode 100644 (file)
index 0000000..7e78be0
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/MiniCL/MiniCLTask/MiniCLTask.h
@@ -0,0 +1,62 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, Copyright (c) 2007 Erwin Coumans
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+*/
+
+#ifndef MINICL__TASK_H
+#define MINICL__TASK_H
+
+#include "BulletMultiThreaded/PlatformDefinitions.h"
+#include "LinearMath/btScalar.h"
+
+#include "LinearMath/btAlignedAllocator.h"
+
+
+#define MINICL_MAX_ARGLENGTH (sizeof(void*))
+#define MINI_CL_MAX_ARG 16
+#define MINI_CL_MAX_KERNEL_NAME 256
+
+struct MiniCLKernel;
+
+ATTRIBUTE_ALIGNED16(struct) MiniCLTaskDesc
+{
+       BT_DECLARE_ALIGNED_ALLOCATOR();
+
+       MiniCLTaskDesc()
+       {
+               for (int i=0;i<MINI_CL_MAX_ARG;i++)
+               {
+                       m_argSizes[i]=0;
+               }
+       }
+
+       uint32_t                m_taskId;
+
+       uint32_t                m_firstWorkUnit;
+       uint32_t                m_lastWorkUnit;
+
+       MiniCLKernel*   m_kernel;
+
+       void*                   m_argData[MINI_CL_MAX_ARG];
+       int                             m_argSizes[MINI_CL_MAX_ARG];
+};
+
+extern "C" int gMiniCLNumOutstandingTasks;
+
+
+void   processMiniCLTask(void* userPtr, void* lsMemory);
+void*  createMiniCLLocalStoreMemory();
+
+
+#endif //MINICL__TASK_H
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/MiniCL/MiniCLTaskScheduler.cpp b/extensions/gdx-bullet/jni/src/bullet/MiniCL/MiniCLTaskScheduler.cpp
new file mode 100644 (file)
index 0000000..18cf645
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/MiniCL/MiniCLTaskScheduler.cpp
@@ -0,0 +1,519 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+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.
+*/
+
+//#define __CELLOS_LV2__ 1
+#define __BT_SKIP_UINT64_H 1
+
+#define USE_SAMPLE_PROCESS 1
+#ifdef USE_SAMPLE_PROCESS
+
+
+#include "MiniCLTaskScheduler.h"
+#include <stdio.h>
+
+#ifdef __SPU__
+
+
+
+void   SampleThreadFunc(void* userPtr,void* lsMemory)
+{
+       //do nothing
+       printf("hello world\n");
+}
+
+
+void*  SamplelsMemoryFunc()
+{
+       //don't create local store memory, just return 0
+       return 0;
+}
+
+
+#else
+
+
+#include "BulletMultiThreaded/btThreadSupportInterface.h"
+
+//#    include "SPUAssert.h"
+#include <string.h>
+
+#include "MiniCL/cl_platform.h"
+
+extern "C" {
+       extern char SPU_SAMPLE_ELF_SYMBOL[];
+}
+
+
+MiniCLTaskScheduler::MiniCLTaskScheduler(btThreadSupportInterface*     threadInterface,  int maxNumOutstandingTasks)
+:m_threadInterface(threadInterface),
+m_maxNumOutstandingTasks(maxNumOutstandingTasks)
+{
+
+       m_taskBusy.resize(m_maxNumOutstandingTasks);
+       m_spuSampleTaskDesc.resize(m_maxNumOutstandingTasks);
+
+       m_kernels.resize(0);
+
+       for (int i = 0; i < m_maxNumOutstandingTasks; i++)
+       {
+               m_taskBusy[i] = false;
+       }
+       m_numBusyTasks = 0;
+       m_currentTask = 0;
+
+       m_initialized = false;
+
+       m_threadInterface->startSPU();
+
+
+}
+
+MiniCLTaskScheduler::~MiniCLTaskScheduler()
+{
+       m_threadInterface->stopSPU();
+       
+}
+
+
+
+void   MiniCLTaskScheduler::initialize()
+{
+#ifdef DEBUG_SPU_TASK_SCHEDULING
+       printf("MiniCLTaskScheduler::initialize()\n");
+#endif //DEBUG_SPU_TASK_SCHEDULING
+       
+       for (int i = 0; i < m_maxNumOutstandingTasks; i++)
+       {
+               m_taskBusy[i] = false;
+       }
+       m_numBusyTasks = 0;
+       m_currentTask = 0;
+       m_initialized = true;
+
+}
+
+
+void MiniCLTaskScheduler::issueTask(int firstWorkUnit, int lastWorkUnit, MiniCLKernel* kernel)
+{
+
+#ifdef DEBUG_SPU_TASK_SCHEDULING
+       printf("MiniCLTaskScheduler::issueTask (m_currentTask= %d\)n", m_currentTask);
+#endif //DEBUG_SPU_TASK_SCHEDULING
+
+       m_taskBusy[m_currentTask] = true;
+       m_numBusyTasks++;
+
+       MiniCLTaskDesc& taskDesc = m_spuSampleTaskDesc[m_currentTask];
+       {
+               // send task description in event message
+               taskDesc.m_firstWorkUnit = firstWorkUnit;
+               taskDesc.m_lastWorkUnit = lastWorkUnit;
+               taskDesc.m_kernel = kernel;
+               //some bookkeeping to recognize finished tasks
+               taskDesc.m_taskId = m_currentTask;
+               
+//             for (int i=0;i<MINI_CL_MAX_ARG;i++)
+               for (unsigned int i=0; i < kernel->m_numArgs; i++)
+               {
+                       taskDesc.m_argSizes[i] = kernel->m_argSizes[i];
+                       if (taskDesc.m_argSizes[i])
+                       {
+                               taskDesc.m_argData[i] = kernel->m_argData[i];
+//                             memcpy(&taskDesc.m_argData[i],&argData[MINICL_MAX_ARGLENGTH*i],taskDesc.m_argSizes[i]);
+                       }
+               }
+       }
+
+
+       m_threadInterface->sendRequest(1, (ppu_address_t) &taskDesc, m_currentTask);
+
+       // if all tasks busy, wait for spu event to clear the task.
+       
+       if (m_numBusyTasks >= m_maxNumOutstandingTasks)
+       {
+               unsigned int taskId;
+               unsigned int outputSize;
+
+               for (int i=0;i<m_maxNumOutstandingTasks;i++)
+         {
+                 if (m_taskBusy[i])
+                 {
+                         taskId = i;
+                         break;
+                 }
+         }
+               m_threadInterface->waitForResponse(&taskId, &outputSize);
+
+               //printf("PPU: after issue, received event: %u %d\n", taskId, outputSize);
+
+               postProcess(taskId, outputSize);
+
+               m_taskBusy[taskId] = false;
+
+               m_numBusyTasks--;
+       }
+
+       // find new task buffer
+       for (int i = 0; i < m_maxNumOutstandingTasks; i++)
+       {
+               if (!m_taskBusy[i])
+               {
+                       m_currentTask = i;
+                       break;
+               }
+       }
+}
+
+
+///Optional PPU-size post processing for each task
+void MiniCLTaskScheduler::postProcess(int taskId, int outputSize)
+{
+
+}
+
+
+void MiniCLTaskScheduler::flush()
+{
+#ifdef DEBUG_SPU_TASK_SCHEDULING
+       printf("\nSpuCollisionTaskProcess::flush()\n");
+#endif //DEBUG_SPU_TASK_SCHEDULING
+       
+
+       // all tasks are issued, wait for all tasks to be complete
+       while(m_numBusyTasks > 0)
+       {
+// Consolidating SPU code
+         unsigned int taskId;
+         unsigned int outputSize;
+         
+         for (int i=0;i<m_maxNumOutstandingTasks;i++)
+         {
+                 if (m_taskBusy[i])
+                 {
+                         taskId = i;
+                         break;
+                 }
+         }
+         {
+                       
+                 m_threadInterface->waitForResponse(&taskId, &outputSize);
+         }
+
+               //printf("PPU: flushing, received event: %u %d\n", taskId, outputSize);
+
+               postProcess(taskId, outputSize);
+
+               m_taskBusy[taskId] = false;
+
+               m_numBusyTasks--;
+       }
+
+
+}
+
+
+
+typedef void (*MiniCLKernelLauncher0)(int);
+typedef void (*MiniCLKernelLauncher1)(void*, int);
+typedef void (*MiniCLKernelLauncher2)(void*, void*, int);
+typedef void (*MiniCLKernelLauncher3)(void*, void*, void*, int);
+typedef void (*MiniCLKernelLauncher4)(void*, void*, void*, void*, int);
+typedef void (*MiniCLKernelLauncher5)(void*, void*, void*, void*, void*, int);
+typedef void (*MiniCLKernelLauncher6)(void*, void*, void*, void*, void*, void*, int);
+typedef void (*MiniCLKernelLauncher7)(void*, void*, void*, void*, void*, void*, void*, int);
+typedef void (*MiniCLKernelLauncher8)(void*, void*, void*, void*, void*, void*, void*, void*, int);
+typedef void (*MiniCLKernelLauncher9)(void*, void*, void*, void*, void*, void*, void*, void*, void*, int);
+typedef void (*MiniCLKernelLauncher10)(void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, int);
+typedef void (*MiniCLKernelLauncher11)(void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, int);
+typedef void (*MiniCLKernelLauncher12)(void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, int);
+typedef void (*MiniCLKernelLauncher13)(void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, int);
+typedef void (*MiniCLKernelLauncher14)(void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, int);
+typedef void (*MiniCLKernelLauncher15)(void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, int);
+typedef void (*MiniCLKernelLauncher16)(void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, int);
+
+
+static void kernelLauncher0(MiniCLTaskDesc* taskDesc, int guid)
+{
+       ((MiniCLKernelLauncher0)(taskDesc->m_kernel->m_launcher))(guid);
+}
+static void kernelLauncher1(MiniCLTaskDesc* taskDesc, int guid)
+{
+       ((MiniCLKernelLauncher1)(taskDesc->m_kernel->m_pCode))( taskDesc->m_argData[0], 
+                                                                                               guid);
+}
+static void kernelLauncher2(MiniCLTaskDesc* taskDesc, int guid)
+{
+       ((MiniCLKernelLauncher2)(taskDesc->m_kernel->m_pCode))( taskDesc->m_argData[0], 
+                                                                                               taskDesc->m_argData[1], 
+                                                                                               guid);
+}
+static void kernelLauncher3(MiniCLTaskDesc* taskDesc, int guid)
+{
+       ((MiniCLKernelLauncher3)(taskDesc->m_kernel->m_pCode))( taskDesc->m_argData[0], 
+                                                                                               taskDesc->m_argData[1], 
+                                                                                               taskDesc->m_argData[2], 
+                                                                                               guid);
+}
+static void kernelLauncher4(MiniCLTaskDesc* taskDesc, int guid)
+{
+       ((MiniCLKernelLauncher4)(taskDesc->m_kernel->m_pCode))( taskDesc->m_argData[0], 
+                                                                                               taskDesc->m_argData[1], 
+                                                                                               taskDesc->m_argData[2], 
+                                                                                               taskDesc->m_argData[3], 
+                                                                                               guid);
+}
+static void kernelLauncher5(MiniCLTaskDesc* taskDesc, int guid)
+{
+       ((MiniCLKernelLauncher5)(taskDesc->m_kernel->m_pCode))( taskDesc->m_argData[0], 
+                                                                                               taskDesc->m_argData[1], 
+                                                                                               taskDesc->m_argData[2], 
+                                                                                               taskDesc->m_argData[3], 
+                                                                                               taskDesc->m_argData[4], 
+                                                                                               guid);
+}
+static void kernelLauncher6(MiniCLTaskDesc* taskDesc, int guid)
+{
+       ((MiniCLKernelLauncher6)(taskDesc->m_kernel->m_pCode))( taskDesc->m_argData[0], 
+                                                                                               taskDesc->m_argData[1], 
+                                                                                               taskDesc->m_argData[2], 
+                                                                                               taskDesc->m_argData[3], 
+                                                                                               taskDesc->m_argData[4], 
+                                                                                               taskDesc->m_argData[5], 
+                                                                                               guid);
+}
+static void kernelLauncher7(MiniCLTaskDesc* taskDesc, int guid)
+{
+       ((MiniCLKernelLauncher7)(taskDesc->m_kernel->m_pCode))( taskDesc->m_argData[0], 
+                                                                                               taskDesc->m_argData[1], 
+                                                                                               taskDesc->m_argData[2], 
+                                                                                               taskDesc->m_argData[3], 
+                                                                                               taskDesc->m_argData[4], 
+                                                                                               taskDesc->m_argData[5], 
+                                                                                               taskDesc->m_argData[6], 
+                                                                                               guid);
+}
+static void kernelLauncher8(MiniCLTaskDesc* taskDesc, int guid)
+{
+       ((MiniCLKernelLauncher8)(taskDesc->m_kernel->m_pCode))( taskDesc->m_argData[0], 
+                                                                                               taskDesc->m_argData[1], 
+                                                                                               taskDesc->m_argData[2], 
+                                                                                               taskDesc->m_argData[3], 
+                                                                                               taskDesc->m_argData[4], 
+                                                                                               taskDesc->m_argData[5], 
+                                                                                               taskDesc->m_argData[6], 
+                                                                                               taskDesc->m_argData[7], 
+                                                                                               guid);
+}
+static void kernelLauncher9(MiniCLTaskDesc* taskDesc, int guid)
+{
+       ((MiniCLKernelLauncher9)(taskDesc->m_kernel->m_pCode))( taskDesc->m_argData[0], 
+                                                                                               taskDesc->m_argData[1], 
+                                                                                               taskDesc->m_argData[2], 
+                                                                                               taskDesc->m_argData[3], 
+                                                                                               taskDesc->m_argData[4], 
+                                                                                               taskDesc->m_argData[5], 
+                                                                                               taskDesc->m_argData[6], 
+                                                                                               taskDesc->m_argData[7], 
+                                                                                               taskDesc->m_argData[8], 
+                                                                                               guid);
+}
+static void kernelLauncher10(MiniCLTaskDesc* taskDesc, int guid)
+{
+       ((MiniCLKernelLauncher10)(taskDesc->m_kernel->m_pCode))(taskDesc->m_argData[0], 
+                                                                                               taskDesc->m_argData[1], 
+                                                                                               taskDesc->m_argData[2], 
+                                                                                               taskDesc->m_argData[3], 
+                                                                                               taskDesc->m_argData[4], 
+                                                                                               taskDesc->m_argData[5], 
+                                                                                               taskDesc->m_argData[6], 
+                                                                                               taskDesc->m_argData[7], 
+                                                                                               taskDesc->m_argData[8], 
+                                                                                               taskDesc->m_argData[9], 
+                                                                                               guid);
+}
+static void kernelLauncher11(MiniCLTaskDesc* taskDesc, int guid)
+{
+       ((MiniCLKernelLauncher11)(taskDesc->m_kernel->m_pCode))(taskDesc->m_argData[0], 
+                                                                                               taskDesc->m_argData[1], 
+                                                                                               taskDesc->m_argData[2], 
+                                                                                               taskDesc->m_argData[3], 
+                                                                                               taskDesc->m_argData[4], 
+                                                                                               taskDesc->m_argData[5], 
+                                                                                               taskDesc->m_argData[6], 
+                                                                                               taskDesc->m_argData[7], 
+                                                                                               taskDesc->m_argData[8], 
+                                                                                               taskDesc->m_argData[9], 
+                                                                                               taskDesc->m_argData[10], 
+                                                                                               guid);
+}
+static void kernelLauncher12(MiniCLTaskDesc* taskDesc, int guid)
+{
+       ((MiniCLKernelLauncher12)(taskDesc->m_kernel->m_pCode))(taskDesc->m_argData[0], 
+                                                                                               taskDesc->m_argData[1], 
+                                                                                               taskDesc->m_argData[2], 
+                                                                                               taskDesc->m_argData[3], 
+                                                                                               taskDesc->m_argData[4], 
+                                                                                               taskDesc->m_argData[5], 
+                                                                                               taskDesc->m_argData[6], 
+                                                                                               taskDesc->m_argData[7], 
+                                                                                               taskDesc->m_argData[8], 
+                                                                                               taskDesc->m_argData[9], 
+                                                                                               taskDesc->m_argData[10], 
+                                                                                               taskDesc->m_argData[11], 
+                                                                                               guid);
+}
+static void kernelLauncher13(MiniCLTaskDesc* taskDesc, int guid)
+{
+       ((MiniCLKernelLauncher13)(taskDesc->m_kernel->m_pCode))(taskDesc->m_argData[0], 
+                                                                                               taskDesc->m_argData[1], 
+                                                                                               taskDesc->m_argData[2], 
+                                                                                               taskDesc->m_argData[3], 
+                                                                                               taskDesc->m_argData[4], 
+                                                                                               taskDesc->m_argData[5], 
+                                                                                               taskDesc->m_argData[6], 
+                                                                                               taskDesc->m_argData[7], 
+                                                                                               taskDesc->m_argData[8], 
+                                                                                               taskDesc->m_argData[9], 
+                                                                                               taskDesc->m_argData[10], 
+                                                                                               taskDesc->m_argData[11], 
+                                                                                               taskDesc->m_argData[12], 
+                                                                                               guid);
+}
+static void kernelLauncher14(MiniCLTaskDesc* taskDesc, int guid)
+{
+       ((MiniCLKernelLauncher14)(taskDesc->m_kernel->m_pCode))(taskDesc->m_argData[0], 
+                                                                                               taskDesc->m_argData[1], 
+                                                                                               taskDesc->m_argData[2], 
+                                                                                               taskDesc->m_argData[3], 
+                                                                                               taskDesc->m_argData[4], 
+                                                                                               taskDesc->m_argData[5], 
+                                                                                               taskDesc->m_argData[6], 
+                                                                                               taskDesc->m_argData[7], 
+                                                                                               taskDesc->m_argData[8], 
+                                                                                               taskDesc->m_argData[9], 
+                                                                                               taskDesc->m_argData[10], 
+                                                                                               taskDesc->m_argData[11], 
+                                                                                               taskDesc->m_argData[12], 
+                                                                                               taskDesc->m_argData[13], 
+                                                                                               guid);
+}
+static void kernelLauncher15(MiniCLTaskDesc* taskDesc, int guid)
+{
+       ((MiniCLKernelLauncher15)(taskDesc->m_kernel->m_pCode))(taskDesc->m_argData[0], 
+                                                                                               taskDesc->m_argData[1], 
+                                                                                               taskDesc->m_argData[2], 
+                                                                                               taskDesc->m_argData[3], 
+                                                                                               taskDesc->m_argData[4], 
+                                                                                               taskDesc->m_argData[5], 
+                                                                                               taskDesc->m_argData[6], 
+                                                                                               taskDesc->m_argData[7], 
+                                                                                               taskDesc->m_argData[8], 
+                                                                                               taskDesc->m_argData[9], 
+                                                                                               taskDesc->m_argData[10], 
+                                                                                               taskDesc->m_argData[11], 
+                                                                                               taskDesc->m_argData[12], 
+                                                                                               taskDesc->m_argData[13], 
+                                                                                               taskDesc->m_argData[14], 
+                                                                                               guid);
+}
+static void kernelLauncher16(MiniCLTaskDesc* taskDesc, int guid)
+{
+       ((MiniCLKernelLauncher16)(taskDesc->m_kernel->m_pCode))(taskDesc->m_argData[0], 
+                                                                                               taskDesc->m_argData[1], 
+                                                                                               taskDesc->m_argData[2], 
+                                                                                               taskDesc->m_argData[3], 
+                                                                                               taskDesc->m_argData[4], 
+                                                                                               taskDesc->m_argData[5], 
+                                                                                               taskDesc->m_argData[6], 
+                                                                                               taskDesc->m_argData[7], 
+                                                                                               taskDesc->m_argData[8], 
+                                                                                               taskDesc->m_argData[9], 
+                                                                                               taskDesc->m_argData[10], 
+                                                                                               taskDesc->m_argData[11], 
+                                                                                               taskDesc->m_argData[12], 
+                                                                                               taskDesc->m_argData[13], 
+                                                                                               taskDesc->m_argData[14], 
+                                                                                               taskDesc->m_argData[15], 
+                                                                                               guid);
+}
+
+static kernelLauncherCB spLauncherList[MINI_CL_MAX_ARG+1] = 
+{
+       kernelLauncher0,
+       kernelLauncher1,
+       kernelLauncher2,
+       kernelLauncher3,
+       kernelLauncher4,
+       kernelLauncher5,
+       kernelLauncher6,
+       kernelLauncher7,
+       kernelLauncher8,
+       kernelLauncher9,
+       kernelLauncher10,
+       kernelLauncher11,
+       kernelLauncher12,
+       kernelLauncher13,
+       kernelLauncher14,
+       kernelLauncher15,
+       kernelLauncher16
+};
+
+void MiniCLKernel::updateLauncher()
+{
+       m_launcher = spLauncherList[m_numArgs];
+}
+
+struct MiniCLKernelDescEntry
+{
+       void* pCode;
+       const char* pName;
+};
+static MiniCLKernelDescEntry spKernelDesc[256];
+static int sNumKernelDesc = 0;
+
+MiniCLKernelDesc::MiniCLKernelDesc(void* pCode, const char* pName)
+{
+       for(int i = 0; i < sNumKernelDesc; i++)
+       {
+               if(!strcmp(pName, spKernelDesc[i].pName))
+               {       // already registered
+                       btAssert(spKernelDesc[i].pCode == pCode);
+                       return; 
+               }
+       }
+       spKernelDesc[sNumKernelDesc].pCode = pCode;
+       spKernelDesc[sNumKernelDesc].pName = pName;
+       sNumKernelDesc++;
+}
+
+
+MiniCLKernel* MiniCLKernel::registerSelf()
+{
+       m_scheduler->registerKernel(this);
+       for(int i = 0; i < sNumKernelDesc; i++)
+       {
+               if(!strcmp(m_name, spKernelDesc[i].pName))
+               {
+                       m_pCode = spKernelDesc[i].pCode;
+                       return this;
+               }
+       }
+       return NULL;
+}
+
+#endif
+
+
+#endif //USE_SAMPLE_PROCESS

diff --git a/extensions/gdx-bullet/jni/src/bullet/MiniCL/MiniCLTaskScheduler.h b/extensions/gdx-bullet/jni/src/bullet/MiniCL/MiniCLTaskScheduler.h
new file mode 100644 (file)
index 0000000..3061a71
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/MiniCL/MiniCLTaskScheduler.h
@@ -0,0 +1,194 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+#ifndef MINICL_TASK_SCHEDULER_H
+#define MINICL_TASK_SCHEDULER_H
+
+#include <assert.h>
+
+
+#include "BulletMultiThreaded/PlatformDefinitions.h"
+
+#include <stdlib.h>
+
+#include "LinearMath/btAlignedObjectArray.h"
+
+
+#include "MiniCLTask/MiniCLTask.h"
+
+//just add your commands here, try to keep them globally unique for debugging purposes
+#define CMD_SAMPLE_TASK_COMMAND 10
+
+struct MiniCLKernel;
+
+/// MiniCLTaskScheduler handles SPU processing of collision pairs.
+/// When PPU issues a task, it will look for completed task buffers
+/// PPU will do postprocessing, dependent on workunit output (not likely)
+class MiniCLTaskScheduler
+{
+       // track task buffers that are being used, and total busy tasks
+       btAlignedObjectArray<bool>      m_taskBusy;
+       btAlignedObjectArray<MiniCLTaskDesc>    m_spuSampleTaskDesc;
+
+
+       btAlignedObjectArray<const MiniCLKernel*>       m_kernels;
+
+
+       int   m_numBusyTasks;
+
+       // the current task and the current entry to insert a new work unit
+       int   m_currentTask;
+
+       bool m_initialized;
+
+       void postProcess(int taskId, int outputSize);
+       
+       class   btThreadSupportInterface*       m_threadInterface;
+
+       int     m_maxNumOutstandingTasks;
+
+
+
+public:
+       MiniCLTaskScheduler(btThreadSupportInterface*   threadInterface, int maxNumOutstandingTasks);
+       
+       ~MiniCLTaskScheduler();
+       
+       ///call initialize in the beginning of the frame, before addCollisionPairToTask
+       void initialize();
+
+       void issueTask(int firstWorkUnit, int lastWorkUnit, MiniCLKernel* kernel);
+
+       ///call flush to submit potential outstanding work to SPUs and wait for all involved SPUs to be finished
+       void flush();
+
+       class   btThreadSupportInterface*       getThreadSupportInterface()
+       {
+               return m_threadInterface;
+       }
+
+       int     findProgramCommandIdByName(const char* programName) const;
+
+       int getMaxNumOutstandingTasks() const
+       {
+               return m_maxNumOutstandingTasks;
+       }
+
+       void registerKernel(MiniCLKernel* kernel)
+       {
+               m_kernels.push_back(kernel);
+       }
+};
+
+typedef void (*kernelLauncherCB)(MiniCLTaskDesc* taskDesc, int guid);
+
+struct MiniCLKernel
+{
+       MiniCLTaskScheduler* m_scheduler;
+       
+//     int     m_kernelProgramCommandId;
+
+       char    m_name[MINI_CL_MAX_KERNEL_NAME];
+       unsigned int    m_numArgs;
+       kernelLauncherCB        m_launcher;
+       void* m_pCode;
+       void updateLauncher();
+       MiniCLKernel* registerSelf();
+
+       void*   m_argData[MINI_CL_MAX_ARG];
+       int                             m_argSizes[MINI_CL_MAX_ARG];
+};
+
+
+#if defined(USE_LIBSPE2) && defined(__SPU__)
+////////////////////MAIN/////////////////////////////
+#include "../SpuLibspe2Support.h"
+#include <spu_intrinsics.h>
+#include <spu_mfcio.h>
+#include <SpuFakeDma.h>
+
+void * SamplelsMemoryFunc();
+void SampleThreadFunc(void* userPtr,void* lsMemory);
+
+//#define DEBUG_LIBSPE2_MAINLOOP
+
+int main(unsigned long long speid, addr64 argp, addr64 envp)
+{
+       printf("SPU is up \n");
+       
+       ATTRIBUTE_ALIGNED128(btSpuStatus status);
+       ATTRIBUTE_ALIGNED16( SpuSampleTaskDesc taskDesc ) ;
+       unsigned int received_message = Spu_Mailbox_Event_Nothing;
+        bool shutdown = false;
+
+       cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
+       cellDmaWaitTagStatusAll(DMA_MASK(3));
+
+       status.m_status = Spu_Status_Free;
+       status.m_lsMemory.p = SamplelsMemoryFunc();
+
+       cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
+       cellDmaWaitTagStatusAll(DMA_MASK(3));
+       
+       
+       while (!shutdown)
+       {
+               received_message = spu_read_in_mbox();
+               
+
+               
+               switch(received_message)
+               {
+               case Spu_Mailbox_Event_Shutdown:
+                       shutdown = true;
+                       break; 
+               case Spu_Mailbox_Event_Task:
+                       // refresh the status
+#ifdef DEBUG_LIBSPE2_MAINLOOP
+                       printf("SPU recieved Task \n");
+#endif //DEBUG_LIBSPE2_MAINLOOP
+                       cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
+                       cellDmaWaitTagStatusAll(DMA_MASK(3));
+               
+                       btAssert(status.m_status==Spu_Status_Occupied);
+                       
+                       cellDmaGet(&taskDesc, status.m_taskDesc.p, sizeof(SpuSampleTaskDesc), DMA_TAG(3), 0, 0);
+                       cellDmaWaitTagStatusAll(DMA_MASK(3));
+                       
+                       SampleThreadFunc((void*)&taskDesc, reinterpret_cast<void*> (taskDesc.m_mainMemoryPtr) );
+                       break;
+               case Spu_Mailbox_Event_Nothing:
+               default:
+                       break;
+               }
+
+               // set to status free and wait for next task
+               status.m_status = Spu_Status_Free;
+               cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
+               cellDmaWaitTagStatusAll(DMA_MASK(3));           
+                               
+               
+       }
+       return 0;
+}
+//////////////////////////////////////////////////////
+#endif
+
+
+
+#endif // MINICL_TASK_SCHEDULER_H
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/MiniCL/cl.h b/extensions/gdx-bullet/jni/src/bullet/MiniCL/cl.h
new file mode 100644 (file)
index 0000000..3528298
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/MiniCL/cl.h
@@ -0,0 +1,867 @@
+/*******************************************************************************
+ * Copyright (c) 2008-2009 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ ******************************************************************************/
+
+#ifndef __OPENCL_CL_H
+#define __OPENCL_CL_H
+
+#ifdef __APPLE__
+#include <MiniCL/cl_platform.h>
+#else
+#include <MiniCL/cl_platform.h>
+#endif 
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/******************************************************************************/
+
+typedef struct _cl_platform_id *    cl_platform_id;
+typedef struct _cl_device_id *      cl_device_id;
+typedef struct _cl_context *        cl_context;
+typedef struct _cl_command_queue *  cl_command_queue;
+typedef struct _cl_mem *            cl_mem;
+typedef struct _cl_program *        cl_program;
+typedef struct _cl_kernel *         cl_kernel;
+typedef struct _cl_event *          cl_event;
+typedef struct _cl_sampler *        cl_sampler;
+
+typedef cl_uint             cl_bool;                     /* WARNING!  Unlike cl_ types in cl_platform.h, cl_bool is not guaranteed to be the same size as the bool in kernels. */ 
+typedef cl_ulong            cl_bitfield;
+typedef cl_bitfield         cl_device_type;
+typedef cl_uint             cl_platform_info;
+typedef cl_uint             cl_device_info;
+typedef cl_bitfield         cl_device_address_info;
+typedef cl_bitfield         cl_device_fp_config;
+typedef cl_uint             cl_device_mem_cache_type;
+typedef cl_uint             cl_device_local_mem_type;
+typedef cl_bitfield         cl_device_exec_capabilities;
+typedef cl_bitfield         cl_command_queue_properties;
+
+typedef intptr_t                       cl_context_properties;
+typedef cl_uint             cl_context_info;
+typedef cl_uint             cl_command_queue_info;
+typedef cl_uint             cl_channel_order;
+typedef cl_uint             cl_channel_type;
+typedef cl_bitfield         cl_mem_flags;
+typedef cl_uint             cl_mem_object_type;
+typedef cl_uint             cl_mem_info;
+typedef cl_uint             cl_image_info;
+typedef cl_uint             cl_addressing_mode;
+typedef cl_uint             cl_filter_mode;
+typedef cl_uint             cl_sampler_info;
+typedef cl_bitfield         cl_map_flags;
+typedef cl_uint             cl_program_info;
+typedef cl_uint             cl_program_build_info;
+typedef cl_int              cl_build_status;
+typedef cl_uint             cl_kernel_info;
+typedef cl_uint             cl_kernel_work_group_info;
+typedef cl_uint             cl_event_info;
+typedef cl_uint             cl_command_type;
+typedef cl_uint             cl_profiling_info;
+
+typedef struct _cl_image_format {
+    cl_channel_order        image_channel_order;
+    cl_channel_type         image_channel_data_type;
+} cl_image_format;
+
+/******************************************************************************/
+
+// Error Codes
+#define CL_SUCCESS                                  0
+#define CL_DEVICE_NOT_FOUND                         -1
+#define CL_DEVICE_NOT_AVAILABLE                     -2
+#define CL_DEVICE_COMPILER_NOT_AVAILABLE            -3
+#define CL_MEM_OBJECT_ALLOCATION_FAILURE            -4
+#define CL_OUT_OF_RESOURCES                         -5
+#define CL_OUT_OF_HOST_MEMORY                       -6
+#define CL_PROFILING_INFO_NOT_AVAILABLE             -7
+#define CL_MEM_COPY_OVERLAP                         -8
+#define CL_IMAGE_FORMAT_MISMATCH                    -9
+#define CL_IMAGE_FORMAT_NOT_SUPPORTED               -10
+#define CL_BUILD_PROGRAM_FAILURE                    -11
+#define CL_MAP_FAILURE                              -12
+
+#define CL_INVALID_VALUE                            -30
+#define CL_INVALID_DEVICE_TYPE                      -31
+#define CL_INVALID_PLATFORM                         -32
+#define CL_INVALID_DEVICE                           -33
+#define CL_INVALID_CONTEXT                          -34
+#define CL_INVALID_QUEUE_PROPERTIES                 -35
+#define CL_INVALID_COMMAND_QUEUE                    -36
+#define CL_INVALID_HOST_PTR                         -37
+#define CL_INVALID_MEM_OBJECT                       -38
+#define CL_INVALID_IMAGE_FORMAT_DESCRIPTOR          -39
+#define CL_INVALID_IMAGE_SIZE                       -40
+#define CL_INVALID_SAMPLER                          -41
+#define CL_INVALID_BINARY                           -42
+#define CL_INVALID_BUILD_OPTIONS                    -43
+#define CL_INVALID_PROGRAM                          -44
+#define CL_INVALID_PROGRAM_EXECUTABLE               -45
+#define CL_INVALID_KERNEL_NAME                      -46
+#define CL_INVALID_KERNEL_DEFINITION                -47
+#define CL_INVALID_KERNEL                           -48
+#define CL_INVALID_ARG_INDEX                        -49
+#define CL_INVALID_ARG_VALUE                        -50
+#define CL_INVALID_ARG_SIZE                         -51
+#define CL_INVALID_KERNEL_ARGS                      -52
+#define CL_INVALID_WORK_DIMENSION                   -53
+#define CL_INVALID_WORK_GROUP_SIZE                  -54
+#define CL_INVALID_WORK_ITEM_SIZE                   -55
+#define CL_INVALID_GLOBAL_OFFSET                    -56
+#define CL_INVALID_EVENT_WAIT_LIST                  -57
+#define CL_INVALID_EVENT                            -58
+#define CL_INVALID_OPERATION                        -59
+#define CL_INVALID_GL_OBJECT                        -60
+#define CL_INVALID_BUFFER_SIZE                      -61
+#define CL_INVALID_MIP_LEVEL                        -62
+
+// OpenCL Version
+#define CL_VERSION_1_0                              1
+
+// cl_bool
+#define CL_FALSE                                    0
+#define CL_TRUE                                     1
+
+// cl_platform_info
+#define CL_PLATFORM_PROFILE                         0x0900
+#define CL_PLATFORM_VERSION                         0x0901
+#define CL_PLATFORM_NAME                            0x0902
+#define CL_PLATFORM_VENDOR                          0x0903
+#define CL_PLATFORM_EXTENSIONS                      0x0904
+
+// cl_device_type - bitfield
+#define CL_DEVICE_TYPE_DEFAULT                      (1 << 0)
+#define CL_DEVICE_TYPE_CPU                          (1 << 1)
+#define CL_DEVICE_TYPE_GPU                          (1 << 2)
+#define CL_DEVICE_TYPE_ACCELERATOR                  (1 << 3)
+#define CL_DEVICE_TYPE_DEBUG                                           (1 << 4)
+#define CL_DEVICE_TYPE_ALL                          0xFFFFFFFF
+
+
+// cl_device_info
+#define CL_DEVICE_TYPE                              0x1000
+#define CL_DEVICE_VENDOR_ID                         0x1001
+#define CL_DEVICE_MAX_COMPUTE_UNITS                 0x1002
+#define CL_DEVICE_MAX_WORK_ITEM_DIMENSIONS          0x1003
+#define CL_DEVICE_MAX_WORK_GROUP_SIZE               0x1004
+#define CL_DEVICE_MAX_WORK_ITEM_SIZES               0x1005
+#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_CHAR       0x1006
+#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_SHORT      0x1007
+#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_INT        0x1008
+#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_LONG       0x1009
+#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_FLOAT      0x100A
+#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_DOUBLE     0x100B
+#define CL_DEVICE_MAX_CLOCK_FREQUENCY               0x100C
+#define CL_DEVICE_ADDRESS_BITS                      0x100D
+#define CL_DEVICE_MAX_READ_IMAGE_ARGS               0x100E
+#define CL_DEVICE_MAX_WRITE_IMAGE_ARGS              0x100F
+#define CL_DEVICE_MAX_MEM_ALLOC_SIZE                0x1010
+#define CL_DEVICE_IMAGE2D_MAX_WIDTH                 0x1011
+#define CL_DEVICE_IMAGE2D_MAX_HEIGHT                0x1012
+#define CL_DEVICE_IMAGE3D_MAX_WIDTH                 0x1013
+#define CL_DEVICE_IMAGE3D_MAX_HEIGHT                0x1014
+#define CL_DEVICE_IMAGE3D_MAX_DEPTH                 0x1015
+#define CL_DEVICE_IMAGE_SUPPORT                     0x1016
+#define CL_DEVICE_MAX_PARAMETER_SIZE                0x1017
+#define CL_DEVICE_MAX_SAMPLERS                      0x1018
+#define CL_DEVICE_MEM_BASE_ADDR_ALIGN               0x1019
+#define CL_DEVICE_MIN_DATA_TYPE_ALIGN_SIZE          0x101A
+#define CL_DEVICE_SINGLE_FP_CONFIG                  0x101B
+#define CL_DEVICE_GLOBAL_MEM_CACHE_TYPE             0x101C
+#define CL_DEVICE_GLOBAL_MEM_CACHELINE_SIZE         0x101D
+#define CL_DEVICE_GLOBAL_MEM_CACHE_SIZE             0x101E
+#define CL_DEVICE_GLOBAL_MEM_SIZE                   0x101F
+#define CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE          0x1020
+#define CL_DEVICE_MAX_CONSTANT_ARGS                 0x1021
+#define CL_DEVICE_LOCAL_MEM_TYPE                    0x1022
+#define CL_DEVICE_LOCAL_MEM_SIZE                    0x1023
+#define CL_DEVICE_ERROR_CORRECTION_SUPPORT          0x1024
+#define CL_DEVICE_PROFILING_TIMER_RESOLUTION        0x1025
+#define CL_DEVICE_ENDIAN_LITTLE                     0x1026
+#define CL_DEVICE_AVAILABLE                         0x1027
+#define CL_DEVICE_COMPILER_AVAILABLE                0x1028
+#define CL_DEVICE_EXECUTION_CAPABILITIES            0x1029
+#define CL_DEVICE_QUEUE_PROPERTIES                  0x102A
+#define CL_DEVICE_NAME                              0x102B
+#define CL_DEVICE_VENDOR                            0x102C
+#define CL_DRIVER_VERSION                           0x102D
+#define CL_DEVICE_PROFILE                           0x102E
+#define CL_DEVICE_VERSION                           0x102F
+#define CL_DEVICE_EXTENSIONS                        0x1030
+#define CL_DEVICE_PLATFORM                          0x1031
+       
+// cl_device_address_info - bitfield
+#define CL_DEVICE_ADDRESS_32_BITS                   (1 << 0)
+#define CL_DEVICE_ADDRESS_64_BITS                   (1 << 1)
+
+// cl_device_fp_config - bitfield
+#define CL_FP_DENORM                                (1 << 0)
+#define CL_FP_INF_NAN                               (1 << 1)
+#define CL_FP_ROUND_TO_NEAREST                      (1 << 2)
+#define CL_FP_ROUND_TO_ZERO                         (1 << 3)
+#define CL_FP_ROUND_TO_INF                          (1 << 4)
+#define CL_FP_FMA                                   (1 << 5)
+
+// cl_device_mem_cache_type
+#define CL_NONE                                     0x0
+#define CL_READ_ONLY_CACHE                          0x1
+#define CL_READ_WRITE_CACHE                         0x2
+
+// cl_device_local_mem_type
+#define CL_LOCAL                                    0x1
+#define CL_GLOBAL                                   0x2
+
+// cl_device_exec_capabilities - bitfield
+#define CL_EXEC_KERNEL                              (1 << 0)
+#define CL_EXEC_NATIVE_KERNEL                       (1 << 1)
+
+// cl_command_queue_properties - bitfield
+#define CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE      (1 << 0)
+#define CL_QUEUE_PROFILING_ENABLE                   (1 << 1)
+
+// cl_context_info
+#define CL_CONTEXT_REFERENCE_COUNT                  0x1080
+#define CL_CONTEXT_NUM_DEVICES                      0x1081
+#define CL_CONTEXT_DEVICES                          0x1082
+#define CL_CONTEXT_PROPERTIES                       0x1083
+#define CL_CONTEXT_PLATFORM                         0x1084
+
+// cl_command_queue_info
+#define CL_QUEUE_CONTEXT                            0x1090
+#define CL_QUEUE_DEVICE                             0x1091
+#define CL_QUEUE_REFERENCE_COUNT                    0x1092
+#define CL_QUEUE_PROPERTIES                         0x1093
+
+// cl_mem_flags - bitfield
+#define CL_MEM_READ_WRITE                           (1 << 0)
+#define CL_MEM_WRITE_ONLY                           (1 << 1)
+#define CL_MEM_READ_ONLY                            (1 << 2)
+#define CL_MEM_USE_HOST_PTR                         (1 << 3)
+#define CL_MEM_ALLOC_HOST_PTR                       (1 << 4)
+#define CL_MEM_COPY_HOST_PTR                        (1 << 5)
+
+// cl_channel_order
+#define CL_R                                        0x10B0
+#define CL_A                                        0x10B1
+#define CL_RG                                       0x10B2
+#define CL_RA                                       0x10B3
+#define CL_RGB                                      0x10B4
+#define CL_RGBA                                     0x10B5
+#define CL_BGRA                                     0x10B6
+#define CL_ARGB                                     0x10B7
+#define CL_INTENSITY                                0x10B8
+#define CL_LUMINANCE                                0x10B9
+
+// cl_channel_type
+#define CL_SNORM_INT8                               0x10D0
+#define CL_SNORM_INT16                              0x10D1
+#define CL_UNORM_INT8                               0x10D2
+#define CL_UNORM_INT16                              0x10D3
+#define CL_UNORM_SHORT_565                          0x10D4
+#define CL_UNORM_SHORT_555                          0x10D5
+#define CL_UNORM_INT_101010                         0x10D6
+#define CL_SIGNED_INT8                              0x10D7
+#define CL_SIGNED_INT16                             0x10D8
+#define CL_SIGNED_INT32                             0x10D9
+#define CL_UNSIGNED_INT8                            0x10DA
+#define CL_UNSIGNED_INT16                           0x10DB
+#define CL_UNSIGNED_INT32                           0x10DC
+#define CL_HALF_FLOAT                               0x10DD
+#define CL_FLOAT                                    0x10DE
+
+// cl_mem_object_type
+#define CL_MEM_OBJECT_BUFFER                        0x10F0
+#define CL_MEM_OBJECT_IMAGE2D                       0x10F1
+#define CL_MEM_OBJECT_IMAGE3D                       0x10F2
+
+// cl_mem_info
+#define CL_MEM_TYPE                                 0x1100
+#define CL_MEM_FLAGS                                0x1101
+#define CL_MEM_SIZE                                 0x1102
+#define CL_MEM_HOST_PTR                             0x1103
+#define CL_MEM_MAP_COUNT                            0x1104
+#define CL_MEM_REFERENCE_COUNT                      0x1105
+#define CL_MEM_CONTEXT                              0x1106
+
+// cl_image_info
+#define CL_IMAGE_FORMAT                             0x1110
+#define CL_IMAGE_ELEMENT_SIZE                       0x1111
+#define CL_IMAGE_ROW_PITCH                          0x1112
+#define CL_IMAGE_SLICE_PITCH                        0x1113
+#define CL_IMAGE_WIDTH                              0x1114
+#define CL_IMAGE_HEIGHT                             0x1115
+#define CL_IMAGE_DEPTH                              0x1116
+
+// cl_addressing_mode
+#define CL_ADDRESS_NONE                             0x1130
+#define CL_ADDRESS_CLAMP_TO_EDGE                    0x1131
+#define CL_ADDRESS_CLAMP                            0x1132
+#define CL_ADDRESS_REPEAT                           0x1133
+
+// cl_filter_mode
+#define CL_FILTER_NEAREST                           0x1140
+#define CL_FILTER_LINEAR                            0x1141
+
+// cl_sampler_info
+#define CL_SAMPLER_REFERENCE_COUNT                  0x1150
+#define CL_SAMPLER_CONTEXT                          0x1151
+#define CL_SAMPLER_NORMALIZED_COORDS                0x1152
+#define CL_SAMPLER_ADDRESSING_MODE                  0x1153
+#define CL_SAMPLER_FILTER_MODE                      0x1154
+
+// cl_map_flags - bitfield
+#define CL_MAP_READ                                 (1 << 0)
+#define CL_MAP_WRITE                                (1 << 1)
+
+// cl_program_info
+#define CL_PROGRAM_REFERENCE_COUNT                  0x1160
+#define CL_PROGRAM_CONTEXT                          0x1161
+#define CL_PROGRAM_NUM_DEVICES                      0x1162
+#define CL_PROGRAM_DEVICES                          0x1163
+#define CL_PROGRAM_SOURCE                           0x1164
+#define CL_PROGRAM_BINARY_SIZES                     0x1165
+#define CL_PROGRAM_BINARIES                         0x1166
+
+// cl_program_build_info
+#define CL_PROGRAM_BUILD_STATUS                     0x1181
+#define CL_PROGRAM_BUILD_OPTIONS                    0x1182
+#define CL_PROGRAM_BUILD_LOG                        0x1183
+
+// cl_build_status
+#define CL_BUILD_SUCCESS                            0
+#define CL_BUILD_NONE                               -1
+#define CL_BUILD_ERROR                              -2
+#define CL_BUILD_IN_PROGRESS                        -3
+
+// cl_kernel_info
+#define CL_KERNEL_FUNCTION_NAME                     0x1190
+#define CL_KERNEL_NUM_ARGS                          0x1191
+#define CL_KERNEL_REFERENCE_COUNT                   0x1192
+#define CL_KERNEL_CONTEXT                           0x1193
+#define CL_KERNEL_PROGRAM                           0x1194
+
+// cl_kernel_work_group_info
+#define CL_KERNEL_WORK_GROUP_SIZE                   0x11B0
+#define CL_KERNEL_COMPILE_WORK_GROUP_SIZE           0x11B1
+#define CL_KERNEL_LOCAL_MEM_SIZE                    0x11B2
+
+// cl_event_info
+#define CL_EVENT_COMMAND_QUEUE                      0x11D0
+#define CL_EVENT_COMMAND_TYPE                       0x11D1
+#define CL_EVENT_REFERENCE_COUNT                    0x11D2
+#define CL_EVENT_COMMAND_EXECUTION_STATUS           0x11D3
+
+// cl_command_type
+#define CL_COMMAND_NDRANGE_KERNEL                   0x11F0
+#define CL_COMMAND_TASK                             0x11F1
+#define CL_COMMAND_NATIVE_KERNEL                    0x11F2
+#define CL_COMMAND_READ_BUFFER                      0x11F3
+#define CL_COMMAND_WRITE_BUFFER                     0x11F4
+#define CL_COMMAND_COPY_BUFFER                      0x11F5
+#define CL_COMMAND_READ_IMAGE                       0x11F6
+#define CL_COMMAND_WRITE_IMAGE                      0x11F7
+#define CL_COMMAND_COPY_IMAGE                       0x11F8
+#define CL_COMMAND_COPY_IMAGE_TO_BUFFER             0x11F9
+#define CL_COMMAND_COPY_BUFFER_TO_IMAGE             0x11FA
+#define CL_COMMAND_MAP_BUFFER                       0x11FB
+#define CL_COMMAND_MAP_IMAGE                        0x11FC
+#define CL_COMMAND_UNMAP_MEM_OBJECT                 0x11FD
+#define CL_COMMAND_MARKER                           0x11FE
+#define CL_COMMAND_WAIT_FOR_EVENTS                  0x11FF
+#define CL_COMMAND_BARRIER                          0x1200
+#define CL_COMMAND_ACQUIRE_GL_OBJECTS               0x1201
+#define CL_COMMAND_RELEASE_GL_OBJECTS               0x1202
+
+// command execution status
+#define CL_COMPLETE                                 0x0
+#define CL_RUNNING                                  0x1
+#define CL_SUBMITTED                                0x2
+#define CL_QUEUED                                   0x3
+  
+// cl_profiling_info
+#define CL_PROFILING_COMMAND_QUEUED                 0x1280
+#define CL_PROFILING_COMMAND_SUBMIT                 0x1281
+#define CL_PROFILING_COMMAND_START                  0x1282
+#define CL_PROFILING_COMMAND_END                    0x1283
+
+/********************************************************************************************************/
+
+// Platform API
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetPlatformIDs(cl_uint          /* num_entries */,
+                 cl_platform_id * /* platforms */,
+                 cl_uint *        /* num_platforms */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL 
+clGetPlatformInfo(cl_platform_id   /* platform */, 
+                  cl_platform_info /* param_name */,
+                  size_t           /* param_value_size */, 
+                  void *           /* param_value */,
+                  size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+// Device APIs
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetDeviceIDs(cl_platform_id   /* platform */,
+               cl_device_type   /* device_type */, 
+               cl_uint          /* num_entries */, 
+               cl_device_id *   /* devices */, 
+               cl_uint *        /* num_devices */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetDeviceInfo(cl_device_id    /* device */,
+                cl_device_info  /* param_name */, 
+                size_t          /* param_value_size */, 
+                void *          /* param_value */,
+                size_t *        /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+// Context APIs  
+extern CL_API_ENTRY cl_context CL_API_CALL
+clCreateContext(const cl_context_properties * /* properties */,
+                cl_uint                 /* num_devices */,
+                const cl_device_id *    /* devices */,
+                void (*pfn_notify)(const char *, const void *, size_t, void *) /* pfn_notify */,
+                void *                  /* user_data */,
+                cl_int *                /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_context CL_API_CALL
+clCreateContextFromType(const cl_context_properties * /* properties */,
+                        cl_device_type          /* device_type */,
+                        void (*pfn_notify)(const char *, const void *, size_t, void *) /* pfn_notify */,
+                        void *                  /* user_data */,
+                        cl_int *                /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clRetainContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clReleaseContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetContextInfo(cl_context         /* context */, 
+                 cl_context_info    /* param_name */, 
+                 size_t             /* param_value_size */, 
+                 void *             /* param_value */, 
+                 size_t *           /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+// Command Queue APIs
+extern CL_API_ENTRY cl_command_queue CL_API_CALL
+clCreateCommandQueue(cl_context                     /* context */, 
+                     cl_device_id                   /* device */, 
+                     cl_command_queue_properties    /* properties */,
+                     cl_int *                       /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clRetainCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clReleaseCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetCommandQueueInfo(cl_command_queue      /* command_queue */,
+                      cl_command_queue_info /* param_name */,
+                      size_t                /* param_value_size */,
+                      void *                /* param_value */,
+                      size_t *              /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clSetCommandQueueProperty(cl_command_queue              /* command_queue */,
+                          cl_command_queue_properties   /* properties */, 
+                          cl_bool                        /* enable */,
+                          cl_command_queue_properties * /* old_properties */) CL_API_SUFFIX__VERSION_1_0;
+
+// Memory Object APIs
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateBuffer(cl_context   /* context */,
+               cl_mem_flags /* flags */,
+               size_t       /* size */,
+               void *       /* host_ptr */,
+               cl_int *     /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateImage2D(cl_context              /* context */,
+                cl_mem_flags            /* flags */,
+                const cl_image_format * /* image_format */,
+                size_t                  /* image_width */,
+                size_t                  /* image_height */,
+                size_t                  /* image_row_pitch */, 
+                void *                  /* host_ptr */,
+                cl_int *                /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+                        
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateImage3D(cl_context              /* context */,
+                cl_mem_flags            /* flags */,
+                const cl_image_format * /* image_format */,
+                size_t                  /* image_width */, 
+                size_t                  /* image_height */,
+                size_t                  /* image_depth */, 
+                size_t                  /* image_row_pitch */, 
+                size_t                  /* image_slice_pitch */, 
+                void *                  /* host_ptr */,
+                cl_int *                /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+                        
+extern CL_API_ENTRY cl_int CL_API_CALL
+clRetainMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clReleaseMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetSupportedImageFormats(cl_context           /* context */,
+                           cl_mem_flags         /* flags */,
+                           cl_mem_object_type   /* image_type */,
+                           cl_uint              /* num_entries */,
+                           cl_image_format *    /* image_formats */,
+                           cl_uint *            /* num_image_formats */) CL_API_SUFFIX__VERSION_1_0;
+                                    
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetMemObjectInfo(cl_mem           /* memobj */,
+                   cl_mem_info      /* param_name */, 
+                   size_t           /* param_value_size */,
+                   void *           /* param_value */,
+                   size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetImageInfo(cl_mem           /* image */,
+               cl_image_info    /* param_name */, 
+               size_t           /* param_value_size */,
+               void *           /* param_value */,
+               size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+// Sampler APIs
+extern CL_API_ENTRY cl_sampler CL_API_CALL
+clCreateSampler(cl_context          /* context */,
+                cl_bool             /* normalized_coords */, 
+                cl_addressing_mode  /* addressing_mode */, 
+                cl_filter_mode      /* filter_mode */,
+                cl_int *            /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clRetainSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clReleaseSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetSamplerInfo(cl_sampler         /* sampler */,
+                 cl_sampler_info    /* param_name */,
+                 size_t             /* param_value_size */,
+                 void *             /* param_value */,
+                 size_t *           /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+                            
+// Program Object APIs
+extern CL_API_ENTRY cl_program CL_API_CALL
+clCreateProgramWithSource(cl_context        /* context */,
+                          cl_uint           /* count */,
+                          const char **     /* strings */,
+                          const size_t *    /* lengths */,
+                          cl_int *          /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_program CL_API_CALL
+clCreateProgramWithBinary(cl_context                     /* context */,
+                          cl_uint                        /* num_devices */,
+                          const cl_device_id *           /* device_list */,
+                          const size_t *                 /* lengths */,
+                          const unsigned char **         /* binaries */,
+                          cl_int *                       /* binary_status */,
+                          cl_int *                       /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clRetainProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clReleaseProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clBuildProgram(cl_program           /* program */,
+               cl_uint              /* num_devices */,
+               const cl_device_id * /* device_list */,
+               const char *         /* options */, 
+               void (*pfn_notify)(cl_program /* program */, void * /* user_data */),
+               void *               /* user_data */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clUnloadCompiler(void) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetProgramInfo(cl_program         /* program */,
+                 cl_program_info    /* param_name */,
+                 size_t             /* param_value_size */,
+                 void *             /* param_value */,
+                 size_t *           /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetProgramBuildInfo(cl_program            /* program */,
+                      cl_device_id          /* device */,
+                      cl_program_build_info /* param_name */,
+                      size_t                /* param_value_size */,
+                      void *                /* param_value */,
+                      size_t *              /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+                            
+// Kernel Object APIs
+extern CL_API_ENTRY cl_kernel CL_API_CALL
+clCreateKernel(cl_program      /* program */,
+               const char *    /* kernel_name */,
+               cl_int *        /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clCreateKernelsInProgram(cl_program     /* program */,
+                         cl_uint        /* num_kernels */,
+                         cl_kernel *    /* kernels */,
+                         cl_uint *      /* num_kernels_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clRetainKernel(cl_kernel    /* kernel */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clReleaseKernel(cl_kernel   /* kernel */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clSetKernelArg(cl_kernel    /* kernel */,
+               cl_uint      /* arg_index */,
+               size_t       /* arg_size */,
+               const void * /* arg_value */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetKernelInfo(cl_kernel       /* kernel */,
+                cl_kernel_info  /* param_name */,
+                size_t          /* param_value_size */,
+                void *          /* param_value */,
+                size_t *        /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetKernelWorkGroupInfo(cl_kernel                  /* kernel */,
+                         cl_device_id               /* device */,
+                         cl_kernel_work_group_info  /* param_name */,
+                         size_t                     /* param_value_size */,
+                         void *                     /* param_value */,
+                         size_t *                   /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+// Event Object APIs
+extern CL_API_ENTRY cl_int CL_API_CALL
+clWaitForEvents(cl_uint             /* num_events */,
+                const cl_event *    /* event_list */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetEventInfo(cl_event         /* event */,
+               cl_event_info    /* param_name */,
+               size_t           /* param_value_size */,
+               void *           /* param_value */,
+               size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+                            
+extern CL_API_ENTRY cl_int CL_API_CALL
+clRetainEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clReleaseEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+// Profiling APIs
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetEventProfilingInfo(cl_event            /* event */,
+                        cl_profiling_info   /* param_name */,
+                        size_t              /* param_value_size */,
+                        void *              /* param_value */,
+                        size_t *            /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+                                
+// Flush and Finish APIs
+extern CL_API_ENTRY cl_int CL_API_CALL
+clFlush(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clFinish(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
+
+// Enqueued Commands APIs
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueReadBuffer(cl_command_queue    /* command_queue */,
+                    cl_mem              /* buffer */,
+                    cl_bool             /* blocking_read */,
+                    size_t              /* offset */,
+                    size_t              /* cb */, 
+                    void *              /* ptr */,
+                    cl_uint             /* num_events_in_wait_list */,
+                    const cl_event *    /* event_wait_list */,
+                    cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_0;
+                            
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueWriteBuffer(cl_command_queue   /* command_queue */, 
+                     cl_mem             /* buffer */, 
+                     cl_bool            /* blocking_write */, 
+                     size_t             /* offset */, 
+                     size_t             /* cb */, 
+                     const void *       /* ptr */, 
+                     cl_uint            /* num_events_in_wait_list */, 
+                     const cl_event *   /* event_wait_list */, 
+                     cl_event *         /* event */) CL_API_SUFFIX__VERSION_1_0;
+                            
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueCopyBuffer(cl_command_queue    /* command_queue */, 
+                    cl_mem              /* src_buffer */,
+                    cl_mem              /* dst_buffer */, 
+                    size_t              /* src_offset */,
+                    size_t              /* dst_offset */,
+                    size_t              /* cb */, 
+                    cl_uint             /* num_events_in_wait_list */,
+                    const cl_event *    /* event_wait_list */,
+                    cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_0;
+                            
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueReadImage(cl_command_queue     /* command_queue */,
+                   cl_mem               /* image */,
+                   cl_bool              /* blocking_read */, 
+                   const size_t *       /* origin[3] */,
+                   const size_t *       /* region[3] */,
+                   size_t               /* row_pitch */,
+                   size_t               /* slice_pitch */, 
+                   void *               /* ptr */,
+                   cl_uint              /* num_events_in_wait_list */,
+                   const cl_event *     /* event_wait_list */,
+                   cl_event *           /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueWriteImage(cl_command_queue    /* command_queue */,
+                    cl_mem              /* image */,
+                    cl_bool             /* blocking_write */, 
+                    const size_t *      /* origin[3] */,
+                    const size_t *      /* region[3] */,
+                    size_t              /* input_row_pitch */,
+                    size_t              /* input_slice_pitch */, 
+                    const void *        /* ptr */,
+                    cl_uint             /* num_events_in_wait_list */,
+                    const cl_event *    /* event_wait_list */,
+                    cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueCopyImage(cl_command_queue     /* command_queue */,
+                   cl_mem               /* src_image */,
+                   cl_mem               /* dst_image */, 
+                   const size_t *       /* src_origin[3] */,
+                   const size_t *       /* dst_origin[3] */,
+                   const size_t *       /* region[3] */, 
+                   cl_uint              /* num_events_in_wait_list */,
+                   const cl_event *     /* event_wait_list */,
+                   cl_event *           /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueCopyImageToBuffer(cl_command_queue /* command_queue */,
+                           cl_mem           /* src_image */,
+                           cl_mem           /* dst_buffer */, 
+                           const size_t *   /* src_origin[3] */,
+                           const size_t *   /* region[3] */, 
+                           size_t           /* dst_offset */,
+                           cl_uint          /* num_events_in_wait_list */,
+                           const cl_event * /* event_wait_list */,
+                           cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueCopyBufferToImage(cl_command_queue /* command_queue */,
+                           cl_mem           /* src_buffer */,
+                           cl_mem           /* dst_image */, 
+                           size_t           /* src_offset */,
+                           const size_t *   /* dst_origin[3] */,
+                           const size_t *   /* region[3] */, 
+                           cl_uint          /* num_events_in_wait_list */,
+                           const cl_event * /* event_wait_list */,
+                           cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY void * CL_API_CALL
+clEnqueueMapBuffer(cl_command_queue /* command_queue */,
+                   cl_mem           /* buffer */,
+                   cl_bool          /* blocking_map */, 
+                   cl_map_flags     /* map_flags */,
+                   size_t           /* offset */,
+                   size_t           /* cb */,
+                   cl_uint          /* num_events_in_wait_list */,
+                   const cl_event * /* event_wait_list */,
+                   cl_event *       /* event */,
+                   cl_int *         /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY void * CL_API_CALL
+clEnqueueMapImage(cl_command_queue  /* command_queue */,
+                  cl_mem            /* image */, 
+                  cl_bool           /* blocking_map */, 
+                  cl_map_flags      /* map_flags */, 
+                  const size_t *    /* origin[3] */,
+                  const size_t *    /* region[3] */,
+                  size_t *          /* image_row_pitch */,
+                  size_t *          /* image_slice_pitch */,
+                  cl_uint           /* num_events_in_wait_list */,
+                  const cl_event *  /* event_wait_list */,
+                  cl_event *        /* event */,
+                  cl_int *          /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueUnmapMemObject(cl_command_queue /* command_queue */,
+                        cl_mem           /* memobj */,
+                        void *           /* mapped_ptr */,
+                        cl_uint          /* num_events_in_wait_list */,
+                        const cl_event *  /* event_wait_list */,
+                        cl_event *        /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueNDRangeKernel(cl_command_queue /* command_queue */,
+                       cl_kernel        /* kernel */,
+                       cl_uint          /* work_dim */,
+                       const size_t *   /* global_work_offset */,
+                       const size_t *   /* global_work_size */,
+                       const size_t *   /* local_work_size */,
+                       cl_uint          /* num_events_in_wait_list */,
+                       const cl_event * /* event_wait_list */,
+                       cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueTask(cl_command_queue  /* command_queue */,
+              cl_kernel         /* kernel */,
+              cl_uint           /* num_events_in_wait_list */,
+              const cl_event *  /* event_wait_list */,
+              cl_event *        /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueNativeKernel(cl_command_queue  /* command_queue */,
+                                         void (*user_func)(void *), 
+                      void *            /* args */,
+                      size_t            /* cb_args */, 
+                      cl_uint           /* num_mem_objects */,
+                      const cl_mem *    /* mem_list */,
+                      const void **     /* args_mem_loc */,
+                      cl_uint           /* num_events_in_wait_list */,
+                      const cl_event *  /* event_wait_list */,
+                      cl_event *        /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueMarker(cl_command_queue    /* command_queue */,
+                cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueWaitForEvents(cl_command_queue /* command_queue */,
+                       cl_uint          /* num_events */,
+                       const cl_event * /* event_list */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueBarrier(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // __OPENCL_CL_H
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/MiniCL/cl_MiniCL_Defs.h b/extensions/gdx-bullet/jni/src/bullet/MiniCL/cl_MiniCL_Defs.h
new file mode 100644 (file)
index 0000000..0773c85
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/MiniCL/cl_MiniCL_Defs.h
@@ -0,0 +1,439 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, Copyright (c) 2007 Erwin Coumans
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+*/
+
+#include <float.h>
+#include <math.h>
+#include "LinearMath/btScalar.h"
+
+#include "MiniCL/cl.h"
+
+
+#define __kernel
+#define __global
+#define __local
+#define get_global_id(a)       __guid_arg
+#define get_local_id(a)                ((__guid_arg) % gMiniCLNumOutstandingTasks)
+#define get_local_size(a)      (gMiniCLNumOutstandingTasks)
+#define get_group_id(a)                ((__guid_arg) / gMiniCLNumOutstandingTasks)
+
+//static unsigned int as_uint(float val) { return *((unsigned int*)&val); }
+
+
+#define CLK_LOCAL_MEM_FENCE            0x01
+#define CLK_GLOBAL_MEM_FENCE   0x02
+
+static void barrier(unsigned int a)
+{
+       // TODO : implement
+}
+
+//ATTRIBUTE_ALIGNED16(struct) float8
+struct float8
+{
+       float s0;
+       float s1;
+       float s2;
+       float s3;
+       float s4;
+       float s5;
+       float s6;
+       float s7;
+
+       float8(float scalar)
+       {
+               s0=s1=s2=s3=s4=s5=s6=s7=scalar;
+       }
+};
+
+
+float select( float arg0, float arg1, bool select)
+{
+       if (select)
+               return arg0;
+       return arg1;
+}
+
+#define __constant
+
+
+struct float3
+{
+       float x,y,z;
+
+       float3& operator+=(const float3& other)
+       {
+               x += other.x;
+               y += other.y;
+               z += other.z;
+               return *this;
+       }
+
+       float3& operator-=(const float3& other)
+       {
+               x -= other.x;
+               y -= other.y;
+               z -= other.z;
+               return *this;
+       }
+
+};
+
+static float dot(const float3&a ,const float3& b)
+{
+       float3 tmp;
+       tmp.x = a.x*b.x;
+       tmp.y = a.y*b.y;
+       tmp.z = a.z*b.z;
+       return tmp.x+tmp.y+tmp.z;
+}
+
+static float3 operator-(const float3& a,const float3& b)
+{
+       float3 tmp;
+       tmp.x = a.x - b.x;
+       tmp.y = a.y - b.y;
+       tmp.z = a.z - b.z;
+       return tmp;
+}
+
+static float3 operator*(const float& scalar,const float3& b)
+{
+       float3 tmp;
+       tmp.x = scalar * b.x;
+       tmp.y = scalar * b.y;
+       tmp.z = scalar * b.z;
+       return tmp;
+}
+
+static float3 operator*(const float3& a,const float& scalar)
+{
+       float3 tmp;
+       tmp.x = a.x * scalar;
+       tmp.y = a.y * scalar;
+       tmp.z = a.z * scalar;
+       return tmp;
+}
+
+
+static float3 operator*(const float3& a,const float3& b)
+{
+       float3 tmp;
+       tmp.x = a.x * b.x;
+       tmp.y = a.y * b.y;
+       tmp.z = a.z * b.z;
+       return tmp;
+}
+       
+
+//ATTRIBUTE_ALIGNED16(struct) float4
+struct float4
+{
+       union
+       {
+               struct {
+                       float x;
+                       float y;
+                       float z;
+               };
+               float3 xyz;
+       };
+       float w;
+
+       float4() {}
+
+       float4(float v0, float v1, float v2, float v3)
+       {
+               x=v0;
+               y=v1;
+               z=v2;
+               w=v3;
+
+       }
+       float4(float3 xyz, float scalarW) 
+       {
+               x = xyz.x;
+               y = xyz.y;
+               z = xyz.z;
+               w = scalarW;
+       }
+
+       float4(float v) 
+       {
+               x = y = z = w = v; 
+       }
+       float4 operator*(const float4& other)
+       {
+               float4 tmp;
+               tmp.x = x*other.x;
+               tmp.y = y*other.y;
+               tmp.z = z*other.z;
+               tmp.w = w*other.w;
+               return tmp;
+       }
+
+       
+
+       float4 operator*(const float& other)
+       {
+               float4 tmp;
+               tmp.x = x*other;
+               tmp.y = y*other;
+               tmp.z = z*other;
+               tmp.w = w*other;
+               return tmp;
+       }
+
+       
+
+       float4& operator+=(const float4& other)
+       {
+               x += other.x;
+               y += other.y;
+               z += other.z;
+               w += other.w;
+               return *this;
+       }
+
+       float4& operator-=(const float4& other)
+       {
+               x -= other.x;
+               y -= other.y;
+               z -= other.z;
+               w -= other.w;
+               return *this;
+       }
+
+       float4& operator *=(float scalar)
+       {
+               x *= scalar;
+               y *= scalar;
+               z *= scalar;
+               w *= scalar;
+               return (*this);
+       }
+
+       
+       
+       
+       
+};
+
+static float4 fabs(const float4& a)
+{
+       float4 tmp;
+       tmp.x = a.x < 0.f ? 0.f  : a.x;
+       tmp.y = a.y < 0.f ? 0.f  : a.y;
+       tmp.z = a.z < 0.f ? 0.f  : a.z;
+       tmp.w = a.w < 0.f ? 0.f  : a.w;
+       return tmp;
+}
+static float4 operator+(const float4& a,const float4& b)
+{
+       float4 tmp;
+       tmp.x = a.x + b.x;
+       tmp.y = a.y + b.y;
+       tmp.z = a.z + b.z;
+       tmp.w = a.w + b.w;
+       return tmp;
+}
+
+
+static float8 operator+(const float8& a,const float8& b)
+{
+       float8 tmp(0);
+       tmp.s0  = a.s0 + b.s0;
+       tmp.s1  = a.s1 + b.s1;
+       tmp.s2  = a.s2 + b.s2;
+       tmp.s3  = a.s3 + b.s3;
+       tmp.s4  = a.s4 + b.s4;
+       tmp.s5  = a.s5 + b.s5;
+       tmp.s6  = a.s6 + b.s6;
+       tmp.s7  = a.s7 + b.s7;
+       return tmp;
+}
+
+
+static float4 operator-(const float4& a,const float4& b)
+{
+       float4 tmp;
+       tmp.x = a.x - b.x;
+       tmp.y = a.y - b.y;
+       tmp.z = a.z - b.z;
+       tmp.w = a.w - b.w;
+       return tmp;
+}
+
+static float8 operator-(const float8& a,const float8& b)
+{
+       float8 tmp(0);
+       tmp.s0  = a.s0 - b.s0;
+       tmp.s1  = a.s1 - b.s1;
+       tmp.s2  = a.s2 - b.s2;
+       tmp.s3  = a.s3 - b.s3;
+       tmp.s4  = a.s4 - b.s4;
+       tmp.s5  = a.s5 - b.s5;
+       tmp.s6  = a.s6 - b.s6;
+       tmp.s7  = a.s7 - b.s7;
+       return tmp;
+}
+
+static float4 operator*(float a,const float4& b)
+{
+       float4 tmp;
+       tmp.x = a * b.x;
+       tmp.y = a * b.y;
+       tmp.z = a * b.z;
+       tmp.w = a * b.w;
+       return tmp;
+}
+
+static float4 operator/(const float4& b,float a)
+{
+       float4 tmp;
+       tmp.x = b.x/a;
+       tmp.y = b.y/a;
+       tmp.z = b.z/a;
+       tmp.w = b.w/a;
+       return tmp;
+}
+
+
+
+
+
+static float dot(const float4&a ,const float4& b)
+{
+       float4 tmp;
+       tmp.x = a.x*b.x;
+       tmp.y = a.y*b.y;
+       tmp.z = a.z*b.z;
+       tmp.w = a.w*b.w;
+       return tmp.x+tmp.y+tmp.z+tmp.w;
+}
+
+static float length(const float4&a)
+{
+       float l = sqrtf(a.x*a.x+a.y*a.y+a.z*a.z);
+       return l;
+}
+
+static float4 normalize(const float4&a)
+{
+       float4 tmp;
+       float l = length(a);
+       tmp = 1.f/l*a;
+       return tmp;
+}
+
+
+
+static float4 cross(const float4&a ,const float4& b)
+{
+       float4 tmp;
+       tmp.x =  a.y*b.z - a.z*b.y;
+       tmp.y = -a.x*b.z + a.z*b.x;
+       tmp.z =  a.x*b.y - a.y*b.x;
+       tmp.w = 0.f;
+       return tmp;
+}
+
+static float max(float a, float b) 
+{
+       return (a >= b) ? a : b;
+}
+
+
+static float min(float a, float b) 
+{
+       return (a <= b) ? a : b;
+}
+
+static float fmax(float a, float b) 
+{
+       return (a >= b) ? a : b;
+}
+
+static float fmin(float a, float b) 
+{
+       return (a <= b) ? a : b;
+}
+
+struct int2
+{
+       int x,y;
+};
+
+struct uint2
+{
+       unsigned int x,y;
+};
+
+//typedef int2 uint2;
+
+typedef unsigned int uint;
+
+struct int4
+{
+       int x,y,z,w;
+};
+
+struct uint4
+{
+       unsigned int x,y,z,w;
+       uint4() {}
+       uint4(uint val) { x = y = z = w = val; }
+       uint4& operator+=(const uint4& other)
+       {
+               x += other.x;
+               y += other.y;
+               z += other.z;
+               w += other.w;
+               return *this;
+       }
+};
+static uint4 operator+(const uint4& a,const uint4& b)
+{
+       uint4 tmp;
+       tmp.x = a.x + b.x;
+       tmp.y = a.y + b.y;
+       tmp.z = a.z + b.z;
+       tmp.w = a.w + b.w;
+       return tmp;
+}
+static uint4 operator-(const uint4& a,const uint4& b)
+{
+       uint4 tmp;
+       tmp.x = a.x - b.x;
+       tmp.y = a.y - b.y;
+       tmp.z = a.z - b.z;
+       tmp.w = a.w - b.w;
+       return tmp;
+}
+
+#define native_sqrt sqrtf
+#define native_sin sinf
+#define native_cos cosf
+#define native_powr powf
+
+#define GUID_ARG ,int __guid_arg
+#define GUID_ARG_VAL ,__guid_arg
+
+
+#define as_int(a) (*((int*)&(a)))
+
+extern "C" int gMiniCLNumOutstandingTasks;
+//     extern "C" void __kernel_func();
+
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/MiniCL/cl_gl.h b/extensions/gdx-bullet/jni/src/bullet/MiniCL/cl_gl.h
new file mode 100644 (file)
index 0000000..0a69d6e
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/MiniCL/cl_gl.h
@@ -0,0 +1,113 @@
+/**********************************************************************************
+ * Copyright (c) 2008-2009 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ **********************************************************************************/
+
+#ifndef __OPENCL_CL_GL_H
+#define __OPENCL_CL_GL_H
+
+#ifdef __APPLE__
+#include <OpenCL/cl_platform.h>
+#else
+#include <MiniCL/cl_platform.h>
+#endif 
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// NOTE:  Make sure that appropriate GL header file is included separately
+
+typedef cl_uint     cl_gl_object_type;
+typedef cl_uint     cl_gl_texture_info;
+typedef cl_uint     cl_gl_platform_info;
+
+// cl_gl_object_type
+#define CL_GL_OBJECT_BUFFER             0x2000
+#define CL_GL_OBJECT_TEXTURE2D          0x2001
+#define CL_GL_OBJECT_TEXTURE3D          0x2002
+#define CL_GL_OBJECT_RENDERBUFFER       0x2003
+
+// cl_gl_texture_info
+#define CL_GL_TEXTURE_TARGET            0x2004
+#define CL_GL_MIPMAP_LEVEL              0x2005
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateFromGLBuffer(cl_context     /* context */,
+                     cl_mem_flags   /* flags */,
+                     GLuint         /* bufobj */,
+                     int *          /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateFromGLTexture2D(cl_context      /* context */,
+                        cl_mem_flags    /* flags */,
+                        GLenum          /* target */,
+                        GLint           /* miplevel */,
+                        GLuint          /* texture */,
+                        cl_int *        /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateFromGLTexture3D(cl_context      /* context */,
+                        cl_mem_flags    /* flags */,
+                        GLenum          /* target */,
+                        GLint           /* miplevel */,
+                        GLuint          /* texture */,
+                        cl_int *        /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateFromGLRenderbuffer(cl_context   /* context */,
+                           cl_mem_flags /* flags */,
+                           GLuint       /* renderbuffer */,
+                           cl_int *     /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetGLObjectInfo(cl_mem                /* memobj */,
+                  cl_gl_object_type *   /* gl_object_type */,
+                  GLuint *              /* gl_object_name */) CL_API_SUFFIX__VERSION_1_0;
+                  
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetGLTextureInfo(cl_mem               /* memobj */,
+                   cl_gl_texture_info   /* param_name */,
+                   size_t               /* param_value_size */,
+                   void *               /* param_value */,
+                   size_t *             /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueAcquireGLObjects(cl_command_queue      /* command_queue */,
+                          cl_uint               /* num_objects */,
+                          const cl_mem *        /* mem_objects */,
+                          cl_uint               /* num_events_in_wait_list */,
+                          const cl_event *      /* event_wait_list */,
+                          cl_event *            /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueReleaseGLObjects(cl_command_queue      /* command_queue */,
+                          cl_uint               /* num_objects */,
+                          const cl_mem *        /* mem_objects */,
+                          cl_uint               /* num_events_in_wait_list */,
+                          const cl_event *      /* event_wait_list */,
+                          cl_event *            /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // __OPENCL_CL_GL_H

diff --git a/extensions/gdx-bullet/jni/src/bullet/MiniCL/cl_platform.h b/extensions/gdx-bullet/jni/src/bullet/MiniCL/cl_platform.h
new file mode 100644 (file)
index 0000000..43219e1
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/MiniCL/cl_platform.h
@@ -0,0 +1,254 @@
+/**********************************************************************************
+ * Copyright (c) 2008-2009 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ **********************************************************************************/
+
+#ifndef __CL_PLATFORM_H
+#define __CL_PLATFORM_H
+
+#define CL_PLATFORM_MINI_CL  0x12345
+
+struct MiniCLKernelDesc
+{
+       MiniCLKernelDesc(void* pCode, const char* pName);
+};
+
+#define MINICL_REGISTER(__kernel_func) static MiniCLKernelDesc __kernel_func##Desc((void*)__kernel_func, #__kernel_func);
+
+
+#ifdef __APPLE__
+    /* Contains #defines for AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER below */
+    #include <AvailabilityMacros.h>
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define CL_API_ENTRY
+#define CL_API_CALL
+#ifdef __APPLE__
+#define CL_API_SUFFIX__VERSION_1_0 //  AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER
+#define CL_EXTENSION_WEAK_LINK       __attribute__((weak_import))       
+#else
+#define CL_API_SUFFIX__VERSION_1_0
+#define CL_EXTENSION_WEAK_LINK                         
+#endif
+
+#if defined (_WIN32) && ! defined (__MINGW32__)
+typedef signed   __int8  int8_t;
+typedef unsigned __int8  uint8_t;
+typedef signed   __int16 int16_t;
+typedef unsigned __int16 uint16_t;
+typedef signed   __int32 int32_t;
+typedef unsigned __int32 uint32_t;
+typedef signed   __int64 int64_t;
+typedef unsigned __int64 uint64_t;
+
+typedef int8_t          cl_char;
+typedef uint8_t         cl_uchar;
+typedef int16_t         cl_short    ;
+typedef uint16_t        cl_ushort   ;
+typedef int32_t         cl_int      ;
+typedef uint32_t        cl_uint     ;
+typedef int64_t         cl_long     ;
+typedef uint64_t        cl_ulong    ;
+
+typedef uint16_t        cl_half     ;
+typedef float           cl_float    ;
+typedef double          cl_double   ;
+
+
+typedef int8_t          cl_char2[2]     ;
+typedef int8_t          cl_char4[4]     ;
+typedef int8_t          cl_char8[8]     ;
+typedef int8_t          cl_char16[16]   ;
+typedef uint8_t         cl_uchar2[2]    ;
+typedef uint8_t         cl_uchar4[4]    ;
+typedef uint8_t         cl_uchar8[8]    ;
+typedef uint8_t         cl_uchar16[16]  ;
+
+typedef int16_t         cl_short2[2]     ;
+typedef int16_t         cl_short4[4]     ;
+typedef int16_t         cl_short8[8]     ;
+typedef int16_t         cl_short16[16]   ;
+typedef uint16_t        cl_ushort2[2]    ;
+typedef uint16_t        cl_ushort4[4]    ;
+typedef uint16_t        cl_ushort8[8]    ;
+typedef uint16_t        cl_ushort16[16]  ;
+
+typedef int32_t         cl_int2[2]     ;
+typedef int32_t         cl_int4[4]     ;
+typedef int32_t         cl_int8[8]     ;
+typedef int32_t         cl_int16[16]    ;
+typedef uint32_t        cl_uint2[2]     ;
+typedef uint32_t        cl_uint4[4]     ;
+typedef uint32_t        cl_uint8[8]     ;
+typedef uint32_t        cl_uint16[16]   ;
+
+typedef int64_t         cl_long2[2]     ;
+typedef int64_t         cl_long4[4]     ;
+typedef int64_t         cl_long8[8]     ;
+typedef int64_t         cl_long16[16]   ;
+typedef uint64_t        cl_ulong2[2]    ;
+typedef uint64_t        cl_ulong4[4]    ;
+typedef uint64_t        cl_ulong8[8]    ;
+typedef uint64_t        cl_ulong16[16]  ;
+
+typedef float           cl_float2[2]    ;
+typedef float           cl_float4[4]    ;
+typedef float           cl_float8[8]    ;
+typedef float           cl_float16[16]  ;
+
+typedef double          cl_double2[2]   ;
+typedef double          cl_double4[4]   ;
+typedef double          cl_double8[8]   ;
+typedef double          cl_double16[16] ;
+
+
+#else
+#include <stdint.h>
+
+/* scalar types  */
+typedef int8_t          cl_char;
+typedef uint8_t         cl_uchar;
+typedef int16_t         cl_short    __attribute__((aligned(2)));
+typedef uint16_t        cl_ushort   __attribute__((aligned(2)));
+typedef int32_t         cl_int      __attribute__((aligned(4)));
+typedef uint32_t        cl_uint     __attribute__((aligned(4)));
+typedef int64_t         cl_long     __attribute__((aligned(8)));
+typedef uint64_t        cl_ulong    __attribute__((aligned(8)));
+
+typedef uint16_t        cl_half     __attribute__((aligned(2)));
+typedef float           cl_float    __attribute__((aligned(4)));
+typedef double          cl_double   __attribute__((aligned(8)));
+
+
+/*
+ * Vector types 
+ *
+ *  Note:   OpenCL requires that all types be naturally aligned. 
+ *          This means that vector types must be naturally aligned.
+ *          For example, a vector of four floats must be aligned to
+ *          a 16 byte boundary (calculated as 4 * the natural 4-byte 
+ *          alignment of the float).  The alignment qualifiers here
+ *          will only function properly if your compiler supports them
+ *          and if you don't actively work to defeat them.  For example,
+ *          in order for a cl_float4 to be 16 byte aligned in a struct,
+ *          the start of the struct must itself be 16-byte aligned. 
+ *
+ *          Maintaining proper alignment is the user's responsibility.
+ */
+typedef int8_t          cl_char2[2]     __attribute__((aligned(2)));
+typedef int8_t          cl_char4[4]     __attribute__((aligned(4)));
+typedef int8_t          cl_char8[8]     __attribute__((aligned(8)));
+typedef int8_t          cl_char16[16]   __attribute__((aligned(16)));
+typedef uint8_t         cl_uchar2[2]    __attribute__((aligned(2)));
+typedef uint8_t         cl_uchar4[4]    __attribute__((aligned(4)));
+typedef uint8_t         cl_uchar8[8]    __attribute__((aligned(8)));
+typedef uint8_t         cl_uchar16[16]  __attribute__((aligned(16)));
+
+typedef int16_t         cl_short2[2]     __attribute__((aligned(4)));
+typedef int16_t         cl_short4[4]     __attribute__((aligned(8)));
+typedef int16_t         cl_short8[8]     __attribute__((aligned(16)));
+typedef int16_t         cl_short16[16]   __attribute__((aligned(32)));
+typedef uint16_t        cl_ushort2[2]    __attribute__((aligned(4)));
+typedef uint16_t        cl_ushort4[4]    __attribute__((aligned(8)));
+typedef uint16_t        cl_ushort8[8]    __attribute__((aligned(16)));
+typedef uint16_t        cl_ushort16[16]  __attribute__((aligned(32)));
+
+typedef int32_t         cl_int2[2]      __attribute__((aligned(8)));
+typedef int32_t         cl_int4[4]      __attribute__((aligned(16)));
+typedef int32_t         cl_int8[8]      __attribute__((aligned(32)));
+typedef int32_t         cl_int16[16]    __attribute__((aligned(64)));
+typedef uint32_t        cl_uint2[2]     __attribute__((aligned(8)));
+typedef uint32_t        cl_uint4[4]     __attribute__((aligned(16)));
+typedef uint32_t        cl_uint8[8]     __attribute__((aligned(32)));
+typedef uint32_t        cl_uint16[16]   __attribute__((aligned(64)));
+
+typedef int64_t         cl_long2[2]     __attribute__((aligned(16)));
+typedef int64_t         cl_long4[4]     __attribute__((aligned(32)));
+typedef int64_t         cl_long8[8]     __attribute__((aligned(64)));
+typedef int64_t         cl_long16[16]   __attribute__((aligned(128)));
+typedef uint64_t        cl_ulong2[2]    __attribute__((aligned(16)));
+typedef uint64_t        cl_ulong4[4]    __attribute__((aligned(32)));
+typedef uint64_t        cl_ulong8[8]    __attribute__((aligned(64)));
+typedef uint64_t        cl_ulong16[16]  __attribute__((aligned(128)));
+
+typedef float           cl_float2[2]    __attribute__((aligned(8)));
+typedef float           cl_float4[4]    __attribute__((aligned(16)));
+typedef float           cl_float8[8]    __attribute__((aligned(32)));
+typedef float           cl_float16[16]  __attribute__((aligned(64)));
+
+typedef double          cl_double2[2]   __attribute__((aligned(16)));
+typedef double          cl_double4[4]   __attribute__((aligned(32)));
+typedef double          cl_double8[8]   __attribute__((aligned(64)));
+typedef double          cl_double16[16] __attribute__((aligned(128)));
+#endif
+
+#include <stddef.h>
+
+/* and a few goodies to go with them */
+#define CL_CHAR_BIT         8
+#define CL_SCHAR_MAX        127
+#define CL_SCHAR_MIN        (-127-1)
+#define CL_CHAR_MAX         CL_SCHAR_MAX
+#define CL_CHAR_MIN         CL_SCHAR_MIN
+#define CL_UCHAR_MAX        255
+#define CL_SHRT_MAX         32767
+#define CL_SHRT_MIN         (-32767-1)
+#define CL_USHRT_MAX        65535
+#define CL_INT_MAX          2147483647
+#define CL_INT_MIN          (-2147483647-1)
+#define CL_UINT_MAX         0xffffffffU
+#define CL_LONG_MAX         ((cl_long) 0x7FFFFFFFFFFFFFFFLL)
+#define CL_LONG_MIN         ((cl_long) -0x7FFFFFFFFFFFFFFFLL - 1LL)
+#define CL_ULONG_MAX        ((cl_ulong) 0xFFFFFFFFFFFFFFFFULL)
+
+#define CL_FLT_DIG          6
+#define CL_FLT_MANT_DIG     24
+#define CL_FLT_MAX_10_EXP   +38
+#define CL_FLT_MAX_EXP      +128
+#define CL_FLT_MIN_10_EXP   -37
+#define CL_FLT_MIN_EXP      -125
+#define CL_FLT_RADIX        2
+#define CL_FLT_MAX          0x1.fffffep127f
+#define CL_FLT_MIN          0x1.0p-126f
+#define CL_FLT_EPSILON      0x1.0p-23f
+
+#define CL_DBL_DIG          15
+#define CL_DBL_MANT_DIG     53
+#define CL_DBL_MAX_10_EXP   +308
+#define CL_DBL_MAX_EXP      +1024
+#define CL_DBL_MIN_10_EXP   -307
+#define CL_DBL_MIN_EXP      -1021
+#define CL_DBL_RADIX        2
+#define CL_DBL_MAX          0x1.fffffffffffffp1023
+#define CL_DBL_MIN          0x1.0p-1022
+#define CL_DBL_EPSILON      0x1.0p-52
+
+/* There are no vector types for half */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // __CL_PLATFORM_H

diff --git a/extensions/gdx-bullet/jni/src/bullet/MiniCL/cmake_install.cmake b/extensions/gdx-bullet/jni/src/bullet/MiniCL/cmake_install.cmake
new file mode 100644 (file)
index 0000000..4bff8e0
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/MiniCL/cmake_install.cmake
@@ -0,0 +1,43 @@
+# Install script for directory: /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/MiniCL
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/usr/local")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  IF(BUILD_TYPE)
+    STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  ELSE(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "Release")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE STATIC_LIBRARY FILES "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/MiniCL/libMiniCL.a")
+  IF(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libMiniCL.a" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libMiniCL.a")
+    EXECUTE_PROCESS(COMMAND "/usr/bin/ranlib" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libMiniCL.a")
+  ENDIF()
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES
+   "/usr/local/include/bullet/MiniCL")
+FILE(INSTALL DESTINATION "/usr/local/include/bullet" TYPE DIRECTORY FILES "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/MiniCL" FILES_MATCHING REGEX "/[^/]*\\.h$" REGEX "/\\.svn$" EXCLUDE REGEX "/cmakefiles$" EXCLUDE)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+

diff --git a/extensions/gdx-bullet/jni/src/bullet/cmake_install.cmake b/extensions/gdx-bullet/jni/src/bullet/cmake_install.cmake
new file mode 100644 (file)
index 0000000..aa20bc3
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/bullet/cmake_install.cmake
@@ -0,0 +1,83 @@
+# Install script for directory: /Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/usr/local")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  IF(BUILD_TYPE)
+    STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  ELSE(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "Release")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES
+   "/usr/local/include/bullet/btBulletCollisionCommon.h;/usr/local/include/bullet/btBulletDynamicsCommon.h;/usr/local/include/bullet/Bullet-C-Api.h")
+FILE(INSTALL DESTINATION "/usr/local/include/bullet" TYPE FILE FILES
+    "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/btBulletCollisionCommon.h"
+    "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/btBulletDynamicsCommon.h"
+    "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/Bullet-C-Api.h"
+    )
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES
+   "/usr/local/include/bullet/vectormath/vmInclude.h")
+FILE(INSTALL DESTINATION "/usr/local/include/bullet/vectormath" TYPE FILE FILES "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/vectormath/vmInclude.h")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES
+   "/usr/local/include/bullet/vectormath/scalar/boolInVec.h;/usr/local/include/bullet/vectormath/scalar/floatInVec.h;/usr/local/include/bullet/vectormath/scalar/mat_aos.h;/usr/local/include/bullet/vectormath/scalar/quat_aos.h;/usr/local/include/bullet/vectormath/scalar/vec_aos.h;/usr/local/include/bullet/vectormath/scalar/vectormath_aos.h")
+FILE(INSTALL DESTINATION "/usr/local/include/bullet/vectormath/scalar" TYPE FILE FILES
+    "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/vectormath/scalar/boolInVec.h"
+    "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/vectormath/scalar/floatInVec.h"
+    "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/vectormath/scalar/mat_aos.h"
+    "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/vectormath/scalar/quat_aos.h"
+    "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/vectormath/scalar/vec_aos.h"
+    "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/vectormath/scalar/vectormath_aos.h"
+    )
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES
+   "/usr/local/include/bullet/vectormath/sse/boolInVec.h;/usr/local/include/bullet/vectormath/sse/floatInVec.h;/usr/local/include/bullet/vectormath/sse/mat_aos.h;/usr/local/include/bullet/vectormath/sse/quat_aos.h;/usr/local/include/bullet/vectormath/sse/vec_aos.h;/usr/local/include/bullet/vectormath/sse/vecidx_aos.h;/usr/local/include/bullet/vectormath/sse/vectormath_aos.h")
+FILE(INSTALL DESTINATION "/usr/local/include/bullet/vectormath/sse" TYPE FILE FILES
+    "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/vectormath/sse/boolInVec.h"
+    "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/vectormath/sse/floatInVec.h"
+    "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/vectormath/sse/mat_aos.h"
+    "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/vectormath/sse/quat_aos.h"
+    "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/vectormath/sse/vec_aos.h"
+    "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/vectormath/sse/vecidx_aos.h"
+    "/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/vectormath/sse/vectormath_aos.h"
+    )
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+  # Include the install script for each subdirectory.
+  INCLUDE("/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/BulletSoftBody/cmake_install.cmake")
+  INCLUDE("/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/BulletCollision/cmake_install.cmake")
+  INCLUDE("/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/BulletDynamics/cmake_install.cmake")
+  INCLUDE("/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/LinearMath/cmake_install.cmake")
+  INCLUDE("/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/MiniCL/cmake_install.cmake")
+  INCLUDE("/Users/kobayasi/NetBeansProjects/MMD/MikuMikuStudio/mikumikustudio/bullet-2.81-macosx/src/BulletMultiThreaded/cmake_install.cmake")
+
+ENDIF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/build.xml b/extensions/gdx-bullet/jni/src/mikumikustudio/build.xml
new file mode 100644 (file)
index 0000000..555c082
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/build.xml
@@ -0,0 +1,251 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project name="build bullet natives" default="all" basedir="../../../">
+    <!-- load cpp compiler ant task -->
+    <taskdef resource="cpptasks.tasks" classpath="lib/antlibs/cpptasks.jar"/>
+    <!-- load properties -->
+    <property file="src/bullet/native/bullet.properties"/>
+    <!-- condition for mac platform check -->
+    <condition property="isSolaris">
+       <os name="SunOS"/>
+    </condition>
+    <condition property="isMac">
+        <and>
+            <os family="mac" />
+            <os family="unix" />
+        </and>
+    </condition>
+    <!-- condition for windows platform check -->
+    <condition property="isWindows">
+        <os family="windows" />
+    </condition>
+    <!-- condition for linux platform check -->
+    <condition property="isLinux">
+        <and>
+            <os family="unix"/>
+            <not>
+                <os family="mac"/>
+            </not>
+           <not>
+             <os name="SunOS"/>
+           </not>
+        </and>
+    </condition>
+    <!-- condition for x86_64 check -->
+    <condition property="isx86_64">
+        <os arch="x86_64" />
+    </condition>
+    
+    <fileset id="lib.jars" dir="${bullet.lib.dir}">
+        <include name="**/*.jar"/>
+    </fileset>
+    <fileset id="lib.jme.jars" dir="${bullet.jme.dir}">
+        <include name="**/*.jar"/>
+    </fileset>
+    
+    <pathconvert property="lib.importpath">
+        <fileset refid="lib.jars"/>
+        <fileset refid="lib.jme.jars"/>
+    </pathconvert>
+
+    <target name="build-bullet-natives" description="builds the native bullet library for the platform being run on" depends="-create-folders, create-native-headers, -nativelib-osx, -nativelib-windows, -nativelib-linux, -nativelib-solaris">
+        <echo message="Updating native jME3-bullet-natives.jar"/>
+        <zip basedir="${bullet.output.base}/jarcontent" file="${bullet.output.base}/jME3-bullet-natives.jar" compress="true"/>
+        <copy file="${bullet.output.base}/jME3-bullet-natives.jar" todir="dist/lib"/>
+    </target>
+    
+    <target name="create-native-headers" description="creates the native headers">
+        <javah destdir="${bullet.source.dir}" classpath="${bullet.build.dir}${path.separator}${lib.importpath}" force="yes">
+            <class name="com.jme3.bullet.PhysicsSpace"/>
+
+            <class name="com.jme3.bullet.collision.PhysicsCollisionEvent"/>
+            <class name="com.jme3.bullet.collision.PhysicsCollisionObject"/>
+            <class name="com.jme3.bullet.objects.PhysicsCharacter"/>
+            <class name="com.jme3.bullet.objects.PhysicsGhostObject"/>
+            <class name="com.jme3.bullet.objects.PhysicsRigidBody"/>
+            <class name="com.jme3.bullet.objects.PhysicsVehicle"/>
+            <class name="com.jme3.bullet.objects.VehicleWheel"/>
+            <class name="com.jme3.bullet.objects.infos.RigidBodyMotionState"/>
+            
+            <class name="com.jme3.bullet.collision.shapes.CollisionShape"/>
+            <class name="com.jme3.bullet.collision.shapes.BoxCollisionShape"/>
+            <class name="com.jme3.bullet.collision.shapes.CapsuleCollisionShape"/>
+            <class name="com.jme3.bullet.collision.shapes.CompoundCollisionShape"/>
+            <class name="com.jme3.bullet.collision.shapes.ConeCollisionShape"/>
+            <class name="com.jme3.bullet.collision.shapes.CylinderCollisionShape"/>
+            <class name="com.jme3.bullet.collision.shapes.GImpactCollisionShape"/>
+            <class name="com.jme3.bullet.collision.shapes.HeightfieldCollisionShape"/>
+            <class name="com.jme3.bullet.collision.shapes.HullCollisionShape"/>
+            <class name="com.jme3.bullet.collision.shapes.MeshCollisionShape"/>
+            <class name="com.jme3.bullet.collision.shapes.PlaneCollisionShape"/>
+            <class name="com.jme3.bullet.collision.shapes.SimplexCollisionShape"/>
+            <class name="com.jme3.bullet.collision.shapes.SphereCollisionShape"/>
+
+            <class name="com.jme3.bullet.joints.PhysicsJoint"/>
+            <class name="com.jme3.bullet.joints.ConeJoint"/>
+            <class name="com.jme3.bullet.joints.HingeJoint"/>
+            <class name="com.jme3.bullet.joints.Point2PointJoint"/>
+            <class name="com.jme3.bullet.joints.SixDofJoint"/>
+            <class name="com.jme3.bullet.joints.SixDofSpringJoint"/>
+            <class name="com.jme3.bullet.joints.SliderJoint"/>
+            <class name="com.jme3.bullet.joints.motors.RotationalLimitMotor"/>
+            <class name="com.jme3.bullet.joints.motors.TranslationalLimitMotor"/>
+
+            <class name="com.jme3.bullet.util.NativeMeshUtil"/>
+            <class name="com.jme3.bullet.util.DebugShapeFactory"/>
+            <class name="projectkyoto.jme3.mmd.nativelib.SkinUtil"/>
+        </javah>
+    </target>
+
+    <!-- compares the API of native bullet and java version-->
+    <target name="bullet-api-diff">
+        <echo message="Comparing bullet and jbullet API"/>
+        <property name="dependencyfinder.home" value="lib/antlibs/depfinder"/>
+        <path id="dependencyfinder">
+            <pathelement location="${dependencyfinder.home}/classes"/>
+            <pathelement location="${dependencyfinder.home}/lib/DependencyFinder.jar"/>
+            <pathelement location="${dependencyfinder.home}/lib/jakarta-oro.jar"/>
+            <pathelement location="${dependencyfinder.home}/lib/log4j.jar"/>
+            <pathelement location="${dependencyfinder.home}/lib/guava.jar"/>
+        </path>
+        <taskdef resource="dependencyfindertasks.properties">
+            <classpath refid="dependencyfinder"/>
+        </taskdef>
+        <jarjardiff destfile="bullet-api-diff.xml"
+              name="jMonkeyEngine3 Bullet Physics API Comparison"
+              oldlabel="Java Version"
+              newlabel="Native Version"
+              level="incompatible">
+            <old>
+                <pathelement location="build/jME3-jbullet.jar"/>
+            </old>
+            <new>
+                <pathelement location="build/jME3-bullet.jar"/>
+            </new>
+        </jarjardiff>    
+        <xslt style="${dependencyfinder.home}/etc/DiffToHTML.xsl"
+        in="bullet-api-diff.xml"
+        out="bullet-api-diff.html" force="true"/>
+        <delete file="bullet-api-diff.xml"/>
+    </target>
+
+    <target name="-create-folders" description="creates the native headers">
+        <mkdir dir="${bullet.source.dir}"/>
+        <mkdir dir="${bullet.build.dir}"/>
+        <mkdir dir="${bullet.output.dir}"/>
+    </target>
+    
+    <target name="-nativelib-osx" if="isMac">
+        <echo message="Building MacOSX version of native bullet"/>
+        <mkdir dir="${bullet.output.dir}/macosx"/>
+        <cc name="${bullet.osx.compiler}" warnings="none" debug="${bullet.compile.debug}" link="shared" outfile="${bullet.output.dir}/macosx/${bullet.library.name}" objdir="${bullet.build.dir}">
+            <fileset dir="${bullet.source.dir}">
+                <include name="*.cpp">
+                </include>
+            </fileset>
+            <includepath path="${bullet.osx.java.include}"/>
+            <includepath path="${bullet.bullet.include}"/>
+            <compilerarg value="-syslibroot ${bullet.osx.syslibroot}"/>
+<!--            <compilerarg value="-arch"/>-->
+<!--            <compilerarg value="ppc"/>-->
+            <compilerarg value="-arch"/>
+            <compilerarg value="i386"/>
+            <compilerarg value="-arch"/>
+            <compilerarg value="x86_64"/>
+            <linker name="${bullet.osx.compiler}">
+                <libset dir="${bullet.folder}/src/BulletSoftBody" libs="BulletSoftBody"/>
+                <libset dir="${bullet.folder}/src/BulletMultiThreaded" libs="BulletMultiThreaded"/>
+                <libset dir="${bullet.folder}/src/BulletDynamics" libs="BulletDynamics"/>
+                <libset dir="${bullet.folder}/src/BulletCollision" libs="BulletCollision"/>
+                <libset dir="${bullet.folder}/src/LinearMath" libs="LinearMath"/>
+<!--                <linkerarg value="-arch"/>-->
+<!--                <linkerarg value="ppc"/>-->
+                <linkerarg value="-arch"/>
+                <linkerarg value="i386"/>
+                <linkerarg value="-arch"/>
+                <linkerarg value="x86_64"/>
+            </linker>
+        </cc>
+        <move file="${bullet.output.dir}/macosx/lib${bullet.library.name}.dylib" tofile="${bullet.output.dir}/macosx/lib${bullet.library.name}.jnilib" failonerror="true" verbose="true"/>
+        <delete file="${bullet.output.dir}/macosx/history.xml"/>
+    </target>
+    
+    <target name="-nativelib-linux" if="isLinux">
+        <echo message="Building Linux version of native bullet"/>
+        <mkdir dir="${bullet.output.dir}/linux"/>
+        <cc name="${bullet.linux.compiler}" warnings="severe" debug="${bullet.compile.debug}" link="shared" outfile="${bullet.output.dir}/linux/${bullet.library.name}" objdir="${bullet.build.dir}">
+            <fileset dir="${bullet.source.dir}">
+                <include name="*.cpp">
+                </include>
+            </fileset>
+            <includepath path="${bullet.java.include}"/>
+            <includepath path="${bullet.java.include}/linux"/>
+            <includepath path="${bullet.bullet.include}"/>
+            <!--compilerarg value="-m32"/-->
+       <compilerarg value="-m32"/>
+       <compilerarg value="-static-libgcc"/>
+            <linker name="${bullet.linux.compiler}">
+       <!-- linkerarg value="-static-libgcc"/ -->
+                <libset dir="${bullet.folder}/src/BulletMultiThreaded" libs="BulletMultiThreaded"/>
+                <libset dir="${bullet.folder}/src/BulletDynamics" libs="BulletDynamics"/>
+                <libset dir="${bullet.folder}/src/BulletCollision" libs="BulletCollision"/>
+                <libset dir="${bullet.folder}/src/LinearMath" libs="LinearMath"/>
+            </linker>
+        </cc>
+        <delete file="${bullet.output.dir}/linux/history.xml"/>
+    </target>
+    <target name="-nativelib-solaris" if="isSolaris">
+        <echo message="Building Solaris version of native bullet"/>
+        <mkdir dir="${bullet.output.dir}/linux"/>
+        <cc name="${bullet.solaris.compiler}" warnings="severe" debug="${bullet.compile.debug}" link="shared" outfile="${bullet.output.dir}/solaris/${bullet.library.name}" objdir="${bullet.build.dir}">
+            <fileset dir="${bullet.source.dir}">
+                <include name="*.cpp">
+                </include>
+            </fileset>
+            <includepath path="${bullet.java.include}"/>
+            <includepath path="${bullet.java.include}/solaris"/>
+            <includepath path="${bullet.bullet.include}"/>
+            <!--compilerarg value="-m32"/-->
+       <compilerarg value="-m64"/>
+       <compilerarg value="-fno-strict-aliasing"/>
+       <compilerarg value="-pthread"/>
+       <compilerarg value="-fPIC"/>
+       <compilerarg value="-D_REENTRANT"/>
+       <compilerarg value="-static-libstdc++"/>
+       <compilerarg value="-static-libgcc"/>
+       <compilerarg value="-D_REENTRANT"/>
+            <linker name="${bullet.solaris.compiler}">
+       <linkerarg value="-R/usr/sfw/lib"/>
+       <linkerarg value="-m64"/>
+                <libset dir="${bullet.folder}/src/BulletMultiThreaded" libs="BulletMultiThreaded"/>
+                <libset dir="${bullet.folder}/src/BulletDynamics" libs="BulletDynamics"/>
+                <libset dir="${bullet.folder}/src/BulletCollision" libs="BulletCollision"/>
+                <libset dir="${bullet.folder}/src/LinearMath" libs="LinearMath"/>
+            </linker>
+        </cc>
+        <delete file="${bullet.output.dir}/solaris/history.xml"/>
+    </target>
+
+    <target name="-nativelib-windows" if="isWindows">
+        <echo message="Building Windows version of native bullet"/>
+        <mkdir dir="${bullet.output.dir}/windows"/>
+        <cc multithreaded="true" name="${bullet.windows.compiler}" warnings="none" debug="${bullet.compile.debug}" outtype="shared" outfile="${bullet.output.dir}/windows/${bullet.library.name}" objdir="${bullet.build.dir}">
+            <fileset dir="${bullet.source.dir}">
+                <include name="*.cpp">
+                </include>
+            </fileset>
+            <includepath path="${bullet.java.include}"/>
+            <includepath path="${bullet.java.include}/win32"/>
+            <includepath path="${bullet.bullet.include}"/>
+            <includepath path="src/bullet/native"/>
+            <!--compilerarg value="-m32"/-->
+       <!-- compilerarg value="-static-libgcc -static-libstdc++"/ -->
+            <linker name="${bullet.windows.compiler}" debug="${bullet.compile.debug}" >
+                <linkerarg value="-o${bullet.library.name}.dll" />
+                <linkerarg value="--kill-at" />
+       <linkerarg value="-static"/>
+                <libset dir="${bullet.folder}/lib/Release" libs="BulletMultiThreaded,BulletDynamics,BulletCollision,LinearMath"/> 
+            </linker>
+        </cc>
+        <delete file="${bullet.output.dir}/windows/history.xml"/>
+    </target>
+</project>

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/bullet-native-build.txt b/extensions/gdx-bullet/jni/src/mikumikustudio/bullet-native-build.txt
new file mode 100644 (file)
index 0000000..e9e4bcd
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/bullet-native-build.txt
@@ -0,0 +1,169 @@
+***********************************
+* Build info for bulletjme       *
+* (c) 2011 Normen Hansen          *
+***********************************
+
+This document outlines the process of building bullet-jme on different platforms.
+Since bullet-jme is a native java library and bullet gets included statically,
+building requires you to download and build the bullet source first.
+
+
+
+***********************************
+* Building bullet                 *
+***********************************
+
+-----------------------------------
+General info
+-----------------------------------
+Note that the compilation of bullet should not produce dll / so / dylib files
+but static *.a libraries which can later be compiled into the binary of bullet-jme.
+
+-----------------------------------
+Downloading and extracting bullet
+-----------------------------------
+Requirements:
+- Bullet source: http://bullet.googlecode.com/
+
+Extract bullet source and build bullet (see below)
+
+-----------------------------------
+Building on Mac OSX
+-----------------------------------
+Requirements:
+- Apple Developer tools: http://developer.apple.com/
+- CMake: http://www.cmake.org/ (or via http://www.macports.org)
+
+Commands:
+> cd bullet-trunk
+> cmake -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON \
+              -DCMAKE_OSX_ARCHITECTURES='ppc;i386;x86_64' \
+              -DBUILD_EXTRAS=off -DBUILD_DEMOS=off -DCMAKE_BUILD_TYPE=Release
+> make
+
+-----------------------------------
+Building on WINDOWS (MinGW/GCC, Recommended)
+-----------------------------------
+Requirements:
+- GNU C++ Compiler: http://www.mingw.org/
+                    http://mingw-w64.sourceforge.net/
+- CMake: http://www.cmake.org/
+
+Commands:
+> cd bullet-trunk
+> cmake . -DBUILD_SHARED_LIBS=OFF -DBUILD_DEMOS:BOOL=OFF -DBUILD_EXTRAS:BOOL=OFF -DCMAKE_BUILD_TYPE=Release . -G "MinGW Makefiles"
+> mingw32-make
+
+-----------------------------------
+Building on WINDOWS (VisualStudio, untested)
+-----------------------------------
+Requirements:
+- Microsoft Visual Studio http://msdn.microsoft.com/
+
+Bullet comes with autogenerated Project Files for Microsoft Visual Studio 6, 7, 7.1 and 8.
+The main Workspace/Solution is located in Bullet/msvc/8/wksbullet.sln (replace 8 with your version).
+
+Build the project to create static libraries.
+
+
+-----------------------------------
+Building bullet on LINUX
+-----------------------------------
+Requirements:
+- Gnu C++ Compiler: http://gcc.gnu.org/
+- CMake: http://www.cmake.org/ (or via your package manager of choice)
+
+Commands:
+> cd bullet-trunk
+> cmake -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON -DCMAKE_C_FLAGS="-fPIC" -DCMAKE_CXX_FLAGS="-fPIC"\
+              -DBUILD_EXTRAS=off -DBUILD_DEMOS=off -DCMAKE_BUILD_TYPE=Release
+> make
+
+-----------------------------------
+More info on building bullet
+-----------------------------------
+http://www.bulletphysics.org/mediawiki-1.5.8/index.php?title=Installation
+
+
+
+***********************************
+* Building bulletjme             *
+***********************************
+
+-----------------------------------
+Requirements
+-----------------------------------
+- Java SDK 1.5+: http://java.sun.com
+- Apache ANT: http://ant.apache.org
+- C++ Compiler: (see below)
+- jme3 Source: http://jmonkeyengine.googlecode.com/
+- Statically compiled bullet source (see above)
+
+-----------------------------------
+Preparation
+-----------------------------------
+- copy/link bullet-trunk folder into the same folder where the bullet-jme folder is:
+
+disk
+ |
+ +-root folder
+    |
+    +-engine
+    |
+    +-sdk
+    |
+    +-bullet-trunk
+
+- You can alter options in the "src/bullet/native/bullet.properties" file, such as the used bullet
+  version, native compilation options etc. (see below)
+
+-----------------------------------
+Building bulletjme native
+-----------------------------------
+Commands:
+> cd engine
+> ant jar
+> ant build-bullet-natives
+
+Thats all. ANT takes care building native binaries and copies them to th elib directory.
+
+If you get compilation errors, try setting "native.java.include" in the build.properties file to your
+JDK include directory, e.g. /opt/java/include or "c:\Program Files\Java\jdk1.6.0_20\include".
+
+-----------------------------------
+Altering the native build process
+-----------------------------------
+bullet-jme uses cpptasks to compile native code.
+
+To change the used compiler, edit the "native.platform.compiler" entry in the
+"build.properties" file. The following c++ compilers work with cpptasks:
+
+gcc     GCC C++ compiler
+g++     GCC C++ compiler
+c++     GCC C++ compiler
+msvc    Microsoft Visual C++
+bcc     Borland C++ Compiler
+icl     Intel C++ compiler for Windows (IA-32)
+ecl     Intel C++ compiler for Windows (IA-64)
+icc     Intel C++ compiler for Linux (IA-32)
+ecc     Intel C++ compiler for Linux (IA-64)
+CC      Sun ONE C++ compiler
+aCC     HP aC++ C++ Compiler
+wcl     OpenWatcom C/C++ compiler
+
+In the "nbproject" folder you can find "build-native-platform.xml" files containing the commands
+to compile bullet-jme on different platforms. If you want to alter the process,
+you can copy and modify one of the files and import it in the "build.xml" file instead
+of the old one.
+
+-----------------------------------
+Netbeans Project
+-----------------------------------
+The project also includes a Netbeans project to edit and build
+the source in the Netbeans IDE in the /src/bullet/ subfolder.
+
+To have correct syntax highlighting in .cpp/.h files:
+
+- in Netbeans Settings -> C/C++ -> Code Assistance -> C++
+  - add bullet-2.77/src as include directories for c++
+  - add JAVA_HOME/include as include directories for c++

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/bullet.properties b/extensions/gdx-bullet/jni/src/mikumikustudio/bullet.properties
new file mode 100644 (file)
index 0000000..cb953f7
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/bullet.properties
@@ -0,0 +1,38 @@
+####################################################
+# these are the ant build properties for bullet-jme #
+#####################################################
+bullet.library.name=bulletjme
+bullet.library.version=0.9
+
+# change if bullet folder has different location
+# bullet.folder=../bullet-trunk
+#bullet.folder=c:/tmp/bullet-trunk.win32
+bullet.folder=../bullet-2.81-linux
+# bullet.folder=../bullet-trunk.macosx2
+#bullet.folder=../bullet-trunk.solaris
+# bullet.folder=../bullet-trunk.solaris64
+# compile options
+bullet.compile.debug=false=
+
+# native library compilation options
+bullet.osx.compiler=g++
+bullet.osx.syslibroot=/Developer/SDKs/MacOSX10.5.sdk
+# change this to msvc for MS Visual Studio compiler
+bullet.windows.compiler=msvc
+bullet.linux.compiler=g++
+bullet.solaris.compiler=g++
+# native header include directories
+#bullet.java.include=${java.home}/../include:${java.home}/../include/win32
+# bullet.java.include=${java.home}/../include:${java.home}/../include/solaris
+bullet.java.include=${java.home}/../include:${java.home}/../include/linux
+# OSX has no JRE, only JDK
+# bullet.osx.java.include=${java.home}/include
+bullet.osx.java.include=/System/Library/Frameworks/JavaVM.framework/Versions/A/Headers
+# dont change these..
+bullet.bullet.include=${bullet.folder}/src
+bullet.build.dir=build/bullet/
+bullet.source.dir=src/bullet/native
+bullet.output.base=lib/bullet
+bullet.output.dir=${bullet.output.base}/jarcontent/native
+bullet.jme.dir=dist
+bullet.lib.dir=dist/lib

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/bullet.solaris32.properties b/extensions/gdx-bullet/jni/src/mikumikustudio/bullet.solaris32.properties
new file mode 100644 (file)
index 0000000..12c8999
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/bullet.solaris32.properties
@@ -0,0 +1,25 @@
+####################################################
+# these are the ant build properties for bullet-jme #
+#####################################################
+bullet.library.name=bulletjme
+bullet.library.version=0.9
+
+bullet.folder=../bullet-trunk.solaris
+# compile options
+bullet.compile.debug=false
+
+# native library compilation options
+# change this to msvc for MS Visual Studio compiler
+bullet.solaris.compiler=g++
+# native header include directories
+bullet.java.include=${java.home}/../include:${java.home}/../include/solaris
+# OSX has no JRE, only JDK
+
+# dont change these..
+bullet.bullet.include=${bullet.folder}/src
+bullet.build.dir=build/bullet/
+bullet.source.dir=src/bullet/native
+bullet.output.base=lib/bullet
+bullet.output.dir=${bullet.output.base}/jarcontent/native
+bullet.jme.dir=dist
+bullet.lib.dir=dist/lib

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/bullet.solaris64.properties b/extensions/gdx-bullet/jni/src/mikumikustudio/bullet.solaris64.properties
new file mode 100644 (file)
index 0000000..74b0cca
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/bullet.solaris64.properties
@@ -0,0 +1,25 @@
+####################################################
+# these are the ant build properties for bullet-jme #
+#####################################################
+bullet.library.name=bulletjme64
+bullet.library.version=0.9
+
+bullet.folder=../bullet-trunk.solaris64
+# compile options
+bullet.compile.debug=false
+
+# native library compilation options
+# change this to msvc for MS Visual Studio compiler
+bullet.solaris.compiler=g++
+# native header include directories
+bullet.java.include=${java.home}/../include:${java.home}/../include/solaris
+# OSX has no JRE, only JDK
+
+# dont change these..
+bullet.bullet.include=${bullet.folder}/src
+bullet.build.dir=build/bullet/
+bullet.source.dir=src/bullet/native
+bullet.output.base=lib/bullet
+bullet.output.dir=${bullet.output.base}/jarcontent/native
+bullet.jme.dir=dist
+bullet.lib.dir=dist/lib

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_PhysicsSpace.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_PhysicsSpace.cpp
new file mode 100644 (file)
index 0000000..5951398
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_PhysicsSpace.cpp
@@ -0,0 +1,411 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#include <stdio.h>
+#include "com_jme3_bullet_PhysicsSpace.h"
+#include "jmePhysicsSpace.h"
+#include "jmeBulletUtil.h"
+#include "jmeUserPointer.h"
+/**
+ * Author: Normen Hansen
+ */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_PhysicsSpace
+     * Method:    createPhysicsSpace
+     * Signature: (FFFFFFI)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_PhysicsSpace_createPhysicsSpace
+    (JNIEnv * env, jobject object, jfloat minX, jfloat minY, jfloat minZ, jfloat maxX, jfloat maxY, jfloat maxZ, jint broadphase, jboolean threading) {
+fprintf(stderr, "createPhysicsSpace\n");
+fflush(stderr);
+        jmeClasses::initJavaClasses(env);
+if (env->ExceptionCheck()) return 0L;
+fprintf(stderr, "new jmePhysicsSpace()\n");
+fflush(stderr);
+        jmePhysicsSpace* space = new jmePhysicsSpace(env, object);
+if (env->ExceptionCheck()) return 0L;
+fprintf(stderr, "after new jmePhysicsSpace()\n");
+fflush(stderr);
+        if (space == NULL) {
+fprintf(stderr, "space == NULL\n");
+fflush(stderr);
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The physics space has not been created.");
+            return 0;
+        }
+fprintf(stderr, "createPhysicsSpace\n");
+fflush(stderr);
+        space->createPhysicsSpace(minX, minY, minZ, maxX, maxY, maxZ, broadphase, threading);
+        return reinterpret_cast<jlong>(space);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_PhysicsSpace
+     * Method:    stepSimulation
+     * Signature: (JFIF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_stepSimulation
+    (JNIEnv * env, jobject object, jlong spaceId, jfloat tpf, jint maxSteps, jfloat accuracy) {
+        jmePhysicsSpace* space = reinterpret_cast<jmePhysicsSpace*>(spaceId);
+        if (space == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The physics space does not exist.");
+            return;
+        }
+        space->stepSimulation(tpf, maxSteps, accuracy);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_PhysicsSpace
+     * Method:    addCollisionObject
+     * Signature: (JJ)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_addCollisionObject
+    (JNIEnv * env, jobject object, jlong spaceId, jlong objectId) {
+        jmePhysicsSpace* space = reinterpret_cast<jmePhysicsSpace*>(spaceId);
+        btCollisionObject* collisionObject = reinterpret_cast<btCollisionObject*>(objectId);
+        if (space == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The physics space does not exist.");
+            return;
+        }
+        if (collisionObject == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The collision object does not exist.");
+            return;
+        }
+        jmeUserPointer *userPointer = (jmeUserPointer*)collisionObject->getUserPointer();
+        userPointer -> space = space;
+
+        space->getDynamicsWorld()->addCollisionObject(collisionObject);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_PhysicsSpace
+     * Method:    removeCollisionObject
+     * Signature: (JJ)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_removeCollisionObject
+    (JNIEnv * env, jobject object, jlong spaceId, jlong objectId) {
+        jmePhysicsSpace* space = reinterpret_cast<jmePhysicsSpace*>(spaceId);
+        btCollisionObject* collisionObject = reinterpret_cast<btCollisionObject*>(objectId);
+        if (space == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The physics space does not exist.");
+            return;
+        }
+        if (collisionObject == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The collision object does not exist.");
+            return;
+        }
+        space->getDynamicsWorld()->removeCollisionObject(collisionObject);
+        jmeUserPointer *userPointer = (jmeUserPointer*)collisionObject->getUserPointer();
+        userPointer -> space = NULL;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_PhysicsSpace
+     * Method:    addRigidBody
+     * Signature: (JJ)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_addRigidBody
+    (JNIEnv * env, jobject object, jlong spaceId, jlong rigidBodyId) {
+        jmePhysicsSpace* space = reinterpret_cast<jmePhysicsSpace*>(spaceId);
+        btRigidBody* collisionObject = reinterpret_cast<btRigidBody*>(rigidBodyId);
+        if (space == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The physics space does not exist.");
+            return;
+        }
+        if (collisionObject == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The collision object does not exist.");
+            return;
+        }
+        jmeUserPointer *userPointer = (jmeUserPointer*)collisionObject->getUserPointer();
+        userPointer -> space = space;
+        space->getDynamicsWorld()->addRigidBody(collisionObject);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_PhysicsSpace
+     * Method:    removeRigidBody
+     * Signature: (JJ)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_removeRigidBody
+    (JNIEnv * env, jobject object, jlong spaceId, jlong rigidBodyId) {
+        jmePhysicsSpace* space = reinterpret_cast<jmePhysicsSpace*>(spaceId);
+        btRigidBody* collisionObject = reinterpret_cast<btRigidBody*>(rigidBodyId);
+        if (space == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The physics space does not exist.");
+            return;
+        }
+        if (collisionObject == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The collision object does not exist.");
+            return;
+        }
+        jmeUserPointer *userPointer = (jmeUserPointer*)collisionObject->getUserPointer();
+        userPointer -> space = NULL;
+        space->getDynamicsWorld()->removeRigidBody(collisionObject);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_PhysicsSpace
+     * Method:    addCharacterObject
+     * Signature: (JJ)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_addCharacterObject
+    (JNIEnv * env, jobject object, jlong spaceId, jlong objectId) {
+        jmePhysicsSpace* space = reinterpret_cast<jmePhysicsSpace*>(spaceId);
+        btCollisionObject* collisionObject = reinterpret_cast<btCollisionObject*>(objectId);
+        if (space == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The physics space does not exist.");
+            return;
+        }
+        if (collisionObject == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The collision object does not exist.");
+            return;
+        }
+        jmeUserPointer *userPointer = (jmeUserPointer*)collisionObject->getUserPointer();
+        userPointer -> space = space;
+        space->getDynamicsWorld()->addCollisionObject(collisionObject, 
+                btBroadphaseProxy::CharacterFilter, 
+                btBroadphaseProxy::StaticFilter | btBroadphaseProxy::DefaultFilter
+        );
+    }
+
+    /*
+     * Class:     com_jme3_bullet_PhysicsSpace
+     * Method:    removeCharacterObject
+     * Signature: (JJ)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_removeCharacterObject
+    (JNIEnv * env, jobject object, jlong spaceId, jlong objectId) {
+        jmePhysicsSpace* space = reinterpret_cast<jmePhysicsSpace*>(spaceId);
+        btCollisionObject* collisionObject = reinterpret_cast<btCollisionObject*>(objectId);
+        if (space == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The physics space does not exist.");
+            return;
+        }
+        if (collisionObject == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The collision object does not exist.");
+            return;
+        }
+        jmeUserPointer *userPointer = (jmeUserPointer*)collisionObject->getUserPointer();
+        userPointer -> space = NULL;
+        space->getDynamicsWorld()->removeCollisionObject(collisionObject);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_PhysicsSpace
+     * Method:    addAction
+     * Signature: (JJ)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_addAction
+    (JNIEnv * env, jobject object, jlong spaceId, jlong objectId) {
+        jmePhysicsSpace* space = reinterpret_cast<jmePhysicsSpace*>(spaceId);
+        btActionInterface* actionObject = reinterpret_cast<btActionInterface*>(objectId);
+        if (space == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The physics space does not exist.");
+            return;
+        }
+        if (actionObject == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The action object does not exist.");
+            return;
+        }
+        space->getDynamicsWorld()->addAction(actionObject);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_PhysicsSpace
+     * Method:    removeAction
+     * Signature: (JJ)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_removeAction
+    (JNIEnv * env, jobject object, jlong spaceId, jlong objectId) {
+        jmePhysicsSpace* space = reinterpret_cast<jmePhysicsSpace*>(spaceId);
+        btActionInterface* actionObject = reinterpret_cast<btActionInterface*>(objectId);
+        if (space == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The physics space does not exist.");
+            return;
+        }
+        if (actionObject == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The action object does not exist.");
+            return;
+        }
+        space->getDynamicsWorld()->removeAction(actionObject);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_PhysicsSpace
+     * Method:    addVehicle
+     * Signature: (JJ)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_addVehicle
+    (JNIEnv * env, jobject object, jlong spaceId, jlong objectId) {
+        jmePhysicsSpace* space = reinterpret_cast<jmePhysicsSpace*>(spaceId);
+        btActionInterface* actionObject = reinterpret_cast<btActionInterface*>(objectId);
+        if (space == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The physics space does not exist.");
+            return;
+        }
+        if (actionObject == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The vehicle object does not exist.");
+            return;
+        }
+        space->getDynamicsWorld()->addAction(actionObject);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_PhysicsSpace
+     * Method:    removeVehicle
+     * Signature: (JJ)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_removeVehicle
+    (JNIEnv * env, jobject object, jlong spaceId, jlong objectId) {
+        jmePhysicsSpace* space = reinterpret_cast<jmePhysicsSpace*>(spaceId);
+        btActionInterface* actionObject = reinterpret_cast<btActionInterface*>(objectId);
+        if (space == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The physics space does not exist.");
+            return;
+        }
+        if (actionObject == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The action object does not exist.");
+            return;
+        }
+        space->getDynamicsWorld()->removeVehicle(actionObject);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_PhysicsSpace
+     * Method:    addConstraint
+     * Signature: (JJ)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_addConstraint
+    (JNIEnv * env, jobject object, jlong spaceId, jlong objectId) {
+        jmePhysicsSpace* space = reinterpret_cast<jmePhysicsSpace*>(spaceId);
+        btTypedConstraint* constraint = reinterpret_cast<btTypedConstraint*>(objectId);
+        if (space == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The physics space does not exist.");
+            return;
+        }
+        if (constraint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The constraint object does not exist.");
+            return;
+        }
+        space->getDynamicsWorld()->addConstraint(constraint);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_PhysicsSpace
+     * Method:    removeConstraint
+     * Signature: (JJ)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_removeConstraint
+    (JNIEnv * env, jobject object, jlong spaceId, jlong objectId) {
+        jmePhysicsSpace* space = reinterpret_cast<jmePhysicsSpace*>(spaceId);
+        btTypedConstraint* constraint = reinterpret_cast<btTypedConstraint*>(objectId);
+        if (space == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The physics space does not exist.");
+            return;
+        }
+        if (constraint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The constraint object does not exist.");
+            return;
+        }
+        space->getDynamicsWorld()->removeConstraint(constraint);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_PhysicsSpace
+     * Method:    setGravity
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_setGravity
+    (JNIEnv * env, jobject object, jlong spaceId, jobject vector) {
+        jmePhysicsSpace* space = reinterpret_cast<jmePhysicsSpace*>(spaceId);
+        if (space == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The physics space does not exist.");
+            return;
+        }
+        btVector3 gravity = btVector3();
+        jmeBulletUtil::convert(env, vector, &gravity);
+        space->getDynamicsWorld()->setGravity(gravity);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_PhysicsSpace
+     * Method:    initNativePhysics
+     * Signature: ()V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_initNativePhysics
+    (JNIEnv * env, jclass clazz) {
+        jmeClasses::initJavaClasses(env);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_PhysicsSpace
+     * Method:    finalizeNative
+     * Signature: (J)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_finalizeNative
+    (JNIEnv * env, jobject object, jlong spaceId) {
+        jmePhysicsSpace* space = reinterpret_cast<jmePhysicsSpace*>(spaceId);
+        delete(space);
+    }
+
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_PhysicsSpace.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_PhysicsSpace.h
new file mode 100644 (file)
index 0000000..41201b5
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_PhysicsSpace.h
@@ -0,0 +1,155 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_PhysicsSpace */
+
+#ifndef _Included_com_jme3_bullet_PhysicsSpace
+#define _Included_com_jme3_bullet_PhysicsSpace
+#ifdef __cplusplus
+extern "C" {
+#endif
+#undef com_jme3_bullet_PhysicsSpace_AXIS_X
+#define com_jme3_bullet_PhysicsSpace_AXIS_X 0L
+#undef com_jme3_bullet_PhysicsSpace_AXIS_Y
+#define com_jme3_bullet_PhysicsSpace_AXIS_Y 1L
+#undef com_jme3_bullet_PhysicsSpace_AXIS_Z
+#define com_jme3_bullet_PhysicsSpace_AXIS_Z 2L
+/*
+ * Class:     com_jme3_bullet_PhysicsSpace
+ * Method:    createPhysicsSpace
+ * Signature: (FFFFFFIZ)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_PhysicsSpace_createPhysicsSpace
+  (JNIEnv *, jobject, jfloat, jfloat, jfloat, jfloat, jfloat, jfloat, jint, jboolean);
+
+/*
+ * Class:     com_jme3_bullet_PhysicsSpace
+ * Method:    stepSimulation
+ * Signature: (JFIF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_stepSimulation
+  (JNIEnv *, jobject, jlong, jfloat, jint, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_PhysicsSpace
+ * Method:    addCollisionObject
+ * Signature: (JJ)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_addCollisionObject
+  (JNIEnv *, jobject, jlong, jlong);
+
+/*
+ * Class:     com_jme3_bullet_PhysicsSpace
+ * Method:    removeCollisionObject
+ * Signature: (JJ)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_removeCollisionObject
+  (JNIEnv *, jobject, jlong, jlong);
+
+/*
+ * Class:     com_jme3_bullet_PhysicsSpace
+ * Method:    addRigidBody
+ * Signature: (JJ)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_addRigidBody
+  (JNIEnv *, jobject, jlong, jlong);
+
+/*
+ * Class:     com_jme3_bullet_PhysicsSpace
+ * Method:    removeRigidBody
+ * Signature: (JJ)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_removeRigidBody
+  (JNIEnv *, jobject, jlong, jlong);
+
+/*
+ * Class:     com_jme3_bullet_PhysicsSpace
+ * Method:    addCharacterObject
+ * Signature: (JJ)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_addCharacterObject
+  (JNIEnv *, jobject, jlong, jlong);
+
+/*
+ * Class:     com_jme3_bullet_PhysicsSpace
+ * Method:    removeCharacterObject
+ * Signature: (JJ)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_removeCharacterObject
+  (JNIEnv *, jobject, jlong, jlong);
+
+/*
+ * Class:     com_jme3_bullet_PhysicsSpace
+ * Method:    addAction
+ * Signature: (JJ)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_addAction
+  (JNIEnv *, jobject, jlong, jlong);
+
+/*
+ * Class:     com_jme3_bullet_PhysicsSpace
+ * Method:    removeAction
+ * Signature: (JJ)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_removeAction
+  (JNIEnv *, jobject, jlong, jlong);
+
+/*
+ * Class:     com_jme3_bullet_PhysicsSpace
+ * Method:    addVehicle
+ * Signature: (JJ)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_addVehicle
+  (JNIEnv *, jobject, jlong, jlong);
+
+/*
+ * Class:     com_jme3_bullet_PhysicsSpace
+ * Method:    removeVehicle
+ * Signature: (JJ)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_removeVehicle
+  (JNIEnv *, jobject, jlong, jlong);
+
+/*
+ * Class:     com_jme3_bullet_PhysicsSpace
+ * Method:    addConstraint
+ * Signature: (JJ)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_addConstraint
+  (JNIEnv *, jobject, jlong, jlong);
+
+/*
+ * Class:     com_jme3_bullet_PhysicsSpace
+ * Method:    removeConstraint
+ * Signature: (JJ)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_removeConstraint
+  (JNIEnv *, jobject, jlong, jlong);
+
+/*
+ * Class:     com_jme3_bullet_PhysicsSpace
+ * Method:    setGravity
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_setGravity
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_PhysicsSpace
+ * Method:    initNativePhysics
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_initNativePhysics
+  (JNIEnv *, jclass);
+
+/*
+ * Class:     com_jme3_bullet_PhysicsSpace
+ * Method:    finalizeNative
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_finalizeNative
+  (JNIEnv *, jobject, jlong);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_PhysicsSpace_BroadphaseType.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_PhysicsSpace_BroadphaseType.h
new file mode 100644 (file)
index 0000000..04eb0f4
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_PhysicsSpace_BroadphaseType.h
@@ -0,0 +1,13 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_PhysicsSpace_BroadphaseType */
+
+#ifndef _Included_com_jme3_bullet_PhysicsSpace_BroadphaseType
+#define _Included_com_jme3_bullet_PhysicsSpace_BroadphaseType
+#ifdef __cplusplus
+extern "C" {
+#endif
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_PhysicsCollisionEvent.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_PhysicsCollisionEvent.cpp
new file mode 100644 (file)
index 0000000..e9199d4
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_PhysicsCollisionEvent.cpp
@@ -0,0 +1,308 @@
+#include "jmeBulletUtil.h"
+#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
+#include "com_jme3_bullet_collision_PhysicsCollisionEvent.h"
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getAppliedImpulse
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getAppliedImpulse
+  (JNIEnv * env, jobject object, jlong manifoldPointObjectId) {
+    btManifoldPoint* mp = reinterpret_cast<btManifoldPoint*>(manifoldPointObjectId);
+    if (mp == NULL) {
+        jclass newExc = env->FindClass("java/lang/NullPointerException");
+        env->ThrowNew(newExc, "The manifoldPoint does not exist.");
+        return 0;
+    }
+    return mp -> m_appliedImpulse;
+}
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getAppliedImpulseLateral1
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getAppliedImpulseLateral1
+  (JNIEnv * env, jobject object, jlong manifoldPointObjectId) {
+    btManifoldPoint* mp = reinterpret_cast<btManifoldPoint*>(manifoldPointObjectId);
+    if (mp == NULL) {
+        jclass newExc = env->FindClass("java/lang/NullPointerException");
+        env->ThrowNew(newExc, "The manifoldPoint does not exist.");
+        return 0;
+    }
+    return mp -> m_appliedImpulseLateral1;
+}
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getAppliedImpulseLateral2
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getAppliedImpulseLateral2
+  (JNIEnv * env, jobject object, jlong manifoldPointObjectId) {
+    btManifoldPoint* mp = reinterpret_cast<btManifoldPoint*>(manifoldPointObjectId);
+    if (mp == NULL) {
+        jclass newExc = env->FindClass("java/lang/NullPointerException");
+        env->ThrowNew(newExc, "The manifoldPoint does not exist.");
+        return 0;
+    }
+    return mp -> m_appliedImpulseLateral2;
+}
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getCombinedFriction
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getCombinedFriction
+  (JNIEnv * env, jobject object, jlong manifoldPointObjectId) {
+    btManifoldPoint* mp = reinterpret_cast<btManifoldPoint*>(manifoldPointObjectId);
+    if (mp == NULL) {
+        jclass newExc = env->FindClass("java/lang/NullPointerException");
+        env->ThrowNew(newExc, "The manifoldPoint does not exist.");
+        return 0;
+    }
+    return mp -> m_combinedFriction;
+}
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getCombinedRestitution
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getCombinedRestitution
+  (JNIEnv * env, jobject object, jlong manifoldPointObjectId) {
+    btManifoldPoint* mp = reinterpret_cast<btManifoldPoint*>(manifoldPointObjectId);
+    if (mp == NULL) {
+        jclass newExc = env->FindClass("java/lang/NullPointerException");
+        env->ThrowNew(newExc, "The manifoldPoint does not exist.");
+        return 0;
+    }
+    return mp -> m_combinedRestitution;
+}
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getDistance1
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getDistance1
+  (JNIEnv * env, jobject object, jlong manifoldPointObjectId) {
+    btManifoldPoint* mp = reinterpret_cast<btManifoldPoint*>(manifoldPointObjectId);
+    if (mp == NULL) {
+        jclass newExc = env->FindClass("java/lang/NullPointerException");
+        env->ThrowNew(newExc, "The manifoldPoint does not exist.");
+        return 0;
+    }
+    return mp -> m_distance1;
+}
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getIndex0
+ * Signature: (J)I
+ */
+JNIEXPORT jint JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getIndex0
+  (JNIEnv * env, jobject object, jlong manifoldPointObjectId) {
+    btManifoldPoint* mp = reinterpret_cast<btManifoldPoint*>(manifoldPointObjectId);
+    if (mp == NULL) {
+        jclass newExc = env->FindClass("java/lang/NullPointerException");
+        env->ThrowNew(newExc, "The manifoldPoint does not exist.");
+        return 0;
+    }
+    return mp -> m_index0;
+}
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getIndex1
+ * Signature: (J)I
+ */
+JNIEXPORT jint JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getIndex1
+  (JNIEnv * env, jobject object, jlong manifoldPointObjectId) {
+    btManifoldPoint* mp = reinterpret_cast<btManifoldPoint*>(manifoldPointObjectId);
+    if (mp == NULL) {
+        jclass newExc = env->FindClass("java/lang/NullPointerException");
+        env->ThrowNew(newExc, "The manifoldPoint does not exist.");
+        return 0;
+    }
+    return mp -> m_index1;
+}
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getLateralFrictionDir1
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getLateralFrictionDir1
+  (JNIEnv * env, jobject object, jlong manifoldPointObjectId, jobject lateralFrictionDir1) {
+    btManifoldPoint* mp = reinterpret_cast<btManifoldPoint*>(manifoldPointObjectId);
+    if (mp == NULL) {
+        jclass newExc = env->FindClass("java/lang/NullPointerException");
+        env->ThrowNew(newExc, "The manifoldPoint does not exist.");
+        return;
+    }
+    jmeBulletUtil::convert(env, &mp -> m_lateralFrictionDir1, lateralFrictionDir1);
+}
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getLateralFrictionDir2
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getLateralFrictionDir2
+  (JNIEnv * env, jobject object, jlong manifoldPointObjectId, jobject lateralFrictionDir2) {
+    btManifoldPoint* mp = reinterpret_cast<btManifoldPoint*>(manifoldPointObjectId);
+    if (mp == NULL) {
+        jclass newExc = env->FindClass("java/lang/NullPointerException");
+        env->ThrowNew(newExc, "The manifoldPoint does not exist.");
+        return;
+    }
+    jmeBulletUtil::convert(env, &mp -> m_lateralFrictionDir2, lateralFrictionDir2);
+}
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    isLateralFrictionInitialized
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_isLateralFrictionInitialized
+  (JNIEnv * env, jobject object, jlong manifoldPointObjectId) {
+    btManifoldPoint* mp = reinterpret_cast<btManifoldPoint*>(manifoldPointObjectId);
+    if (mp == NULL) {
+        jclass newExc = env->FindClass("java/lang/NullPointerException");
+        env->ThrowNew(newExc, "The manifoldPoint does not exist.");
+        return 0;
+    }
+    return mp -> m_lateralFrictionInitialized;
+}
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getLifeTime
+ * Signature: (J)I
+ */
+JNIEXPORT jint JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getLifeTime
+  (JNIEnv * env, jobject object, jlong manifoldPointObjectId) {
+    btManifoldPoint* mp = reinterpret_cast<btManifoldPoint*>(manifoldPointObjectId);
+    if (mp == NULL) {
+        jclass newExc = env->FindClass("java/lang/NullPointerException");
+        env->ThrowNew(newExc, "The manifoldPoint does not exist.");
+        return 0;
+    }
+    return mp -> m_lifeTime;
+}
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getLocalPointA
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getLocalPointA
+  (JNIEnv * env, jobject object, jlong manifoldPointObjectId, jobject localPointA) {
+    btManifoldPoint* mp = reinterpret_cast<btManifoldPoint*>(manifoldPointObjectId);
+    if (mp == NULL) {
+        jclass newExc = env->FindClass("java/lang/NullPointerException");
+        env->ThrowNew(newExc, "The manifoldPoint does not exist.");
+        return;
+    }
+    jmeBulletUtil::convert(env, &mp -> m_localPointA, localPointA);
+}
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getLocalPointB
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getLocalPointB
+  (JNIEnv * env, jobject object, jlong manifoldPointObjectId, jobject localPointB) {
+    btManifoldPoint* mp = reinterpret_cast<btManifoldPoint*>(manifoldPointObjectId);
+    if (mp == NULL) {
+        jclass newExc = env->FindClass("java/lang/NullPointerException");
+        env->ThrowNew(newExc, "The manifoldPoint does not exist.");
+        return;
+    }
+    jmeBulletUtil::convert(env, &mp -> m_localPointB, localPointB);
+}
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getNormalWorldOnB
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getNormalWorldOnB
+  (JNIEnv * env, jobject object, jlong manifoldPointObjectId, jobject normalWorldOnB) {
+    btManifoldPoint* mp = reinterpret_cast<btManifoldPoint*>(manifoldPointObjectId);
+    if (mp == NULL) {
+        jclass newExc = env->FindClass("java/lang/NullPointerException");
+        env->ThrowNew(newExc, "The manifoldPoint does not exist.");
+        return;
+    }
+    jmeBulletUtil::convert(env, &mp -> m_normalWorldOnB, normalWorldOnB);
+}
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getPartId0
+ * Signature: (J)I
+ */
+JNIEXPORT jint JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getPartId0
+  (JNIEnv * env, jobject object, jlong manifoldPointObjectId) {
+    btManifoldPoint* mp = reinterpret_cast<btManifoldPoint*>(manifoldPointObjectId);
+    if (mp == NULL) {
+        jclass newExc = env->FindClass("java/lang/NullPointerException");
+        env->ThrowNew(newExc, "The manifoldPoint does not exist.");
+        return 0;
+    }
+    return mp -> m_partId0;
+}
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getPartId1
+ * Signature: (J)I
+ */
+JNIEXPORT jint JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getPartId1
+  (JNIEnv * env, jobject object, jlong manifoldPointObjectId) {
+    btManifoldPoint* mp = reinterpret_cast<btManifoldPoint*>(manifoldPointObjectId);
+    if (mp == NULL) {
+        jclass newExc = env->FindClass("java/lang/NullPointerException");
+        env->ThrowNew(newExc, "The manifoldPoint does not exist.");
+        return 0;
+    }
+    return mp -> m_partId1;
+}
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getPositionWorldOnA
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getPositionWorldOnA
+  (JNIEnv * env, jobject object, jlong manifoldPointObjectId, jobject positionWorldOnA) {
+    btManifoldPoint* mp = reinterpret_cast<btManifoldPoint*>(manifoldPointObjectId);
+    if (mp == NULL) {
+        jclass newExc = env->FindClass("java/lang/NullPointerException");
+        env->ThrowNew(newExc, "The manifoldPoint does not exist.");
+        return;
+    }
+    jmeBulletUtil::convert(env, &mp -> m_positionWorldOnA, positionWorldOnA);
+}
+
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getPositionWorldOnB
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getPositionWorldOnB
+  (JNIEnv * env, jobject object, jlong manifoldPointObjectId, jobject positionWorldOnB) {
+    btManifoldPoint* mp = reinterpret_cast<btManifoldPoint*>(manifoldPointObjectId);
+    if (mp == NULL) {
+        jclass newExc = env->FindClass("java/lang/NullPointerException");
+        env->ThrowNew(newExc, "The manifoldPoint does not exist.");
+        return;
+    }
+    jmeBulletUtil::convert(env, &mp -> m_positionWorldOnB, positionWorldOnB);
+}

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_PhysicsCollisionEvent.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_PhysicsCollisionEvent.h
new file mode 100644 (file)
index 0000000..2dd9dcf
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_PhysicsCollisionEvent.h
@@ -0,0 +1,173 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_collision_PhysicsCollisionEvent */
+
+#ifndef _Included_com_jme3_bullet_collision_PhysicsCollisionEvent
+#define _Included_com_jme3_bullet_collision_PhysicsCollisionEvent
+#ifdef __cplusplus
+extern "C" {
+#endif
+#undef com_jme3_bullet_collision_PhysicsCollisionEvent_serialVersionUID
+#define com_jme3_bullet_collision_PhysicsCollisionEvent_serialVersionUID 5516075349620653480LL
+#undef com_jme3_bullet_collision_PhysicsCollisionEvent_TYPE_ADDED
+#define com_jme3_bullet_collision_PhysicsCollisionEvent_TYPE_ADDED 0L
+#undef com_jme3_bullet_collision_PhysicsCollisionEvent_TYPE_PROCESSED
+#define com_jme3_bullet_collision_PhysicsCollisionEvent_TYPE_PROCESSED 1L
+#undef com_jme3_bullet_collision_PhysicsCollisionEvent_TYPE_DESTROYED
+#define com_jme3_bullet_collision_PhysicsCollisionEvent_TYPE_DESTROYED 2L
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getAppliedImpulse
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getAppliedImpulse
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getAppliedImpulseLateral1
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getAppliedImpulseLateral1
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getAppliedImpulseLateral2
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getAppliedImpulseLateral2
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getCombinedFriction
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getCombinedFriction
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getCombinedRestitution
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getCombinedRestitution
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getDistance1
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getDistance1
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getIndex0
+ * Signature: (J)I
+ */
+JNIEXPORT jint JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getIndex0
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getIndex1
+ * Signature: (J)I
+ */
+JNIEXPORT jint JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getIndex1
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getLateralFrictionDir1
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getLateralFrictionDir1
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getLateralFrictionDir2
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getLateralFrictionDir2
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    isLateralFrictionInitialized
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_isLateralFrictionInitialized
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getLifeTime
+ * Signature: (J)I
+ */
+JNIEXPORT jint JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getLifeTime
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getLocalPointA
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getLocalPointA
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getLocalPointB
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getLocalPointB
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getNormalWorldOnB
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getNormalWorldOnB
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getPartId0
+ * Signature: (J)I
+ */
+JNIEXPORT jint JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getPartId0
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getPartId1
+ * Signature: (J)I
+ */
+JNIEXPORT jint JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getPartId1
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getPositionWorldOnA
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getPositionWorldOnA
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionEvent
+ * Method:    getPositionWorldOnB
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_getPositionWorldOnB
+  (JNIEnv *, jobject, jlong, jobject);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_PhysicsCollisionObject.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_PhysicsCollisionObject.cpp
new file mode 100644 (file)
index 0000000..7b0d11a
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_PhysicsCollisionObject.cpp
@@ -0,0 +1,149 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+#include "com_jme3_bullet_collision_PhysicsCollisionObject.h"
+#include "jmeBulletUtil.h"
+#include "jmePhysicsSpace.h"
+#include "jmeUserPointer.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_collision_PhysicsCollisionObject
+     * Method:    attachCollisionShape
+     * Signature: (JJ)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionObject_attachCollisionShape
+    (JNIEnv * env, jobject object, jlong objectId, jlong shapeId) {
+        btCollisionObject* collisionObject = reinterpret_cast<btCollisionObject*>(objectId);
+        if (collisionObject == NULL) {
+            jclass newExc = env->FindClass("java/lang/IllegalStateException");
+            env->ThrowNew(newExc, "The collision object does not exist.");
+            return;
+        }
+        btCollisionShape* collisionShape = reinterpret_cast<btCollisionShape*>(shapeId);
+        if (collisionShape == NULL) {
+            jclass newExc = env->FindClass("java/lang/IllegalStateException");
+            env->ThrowNew(newExc, "The collision shape does not exist.");
+            return;
+        }
+        collisionObject->setCollisionShape(collisionShape);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_collision_PhysicsCollisionObject
+     * Method:    finalizeNative
+     * Signature: (J)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionObject_finalizeNative
+    (JNIEnv * env, jobject object, jlong objectId) {
+        btCollisionObject* collisionObject = reinterpret_cast<btCollisionObject*>(objectId);
+        if (collisionObject == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        if (collisionObject -> getUserPointer() != NULL){
+            jmeUserPointer *userPointer = (jmeUserPointer*)collisionObject->getUserPointer();
+            delete(userPointer);
+        }
+        delete(collisionObject);
+    }
+    /*
+     * Class:     com_jme3_bullet_collision_PhysicsCollisionObject
+     * Method:    initUserPointer
+     * Signature: (JII)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionObject_initUserPointer
+      (JNIEnv *env, jobject object, jlong objectId, jint group, jint groups) {
+        btCollisionObject* collisionObject = reinterpret_cast<btCollisionObject*>(objectId);
+        if (collisionObject == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeUserPointer *userPointer = (jmeUserPointer*)collisionObject->getUserPointer();
+        if (userPointer != NULL) {
+//            delete(userPointer);
+        }
+        userPointer = new jmeUserPointer();
+        userPointer -> javaCollisionObject = env->NewGlobalRef(object);
+        userPointer -> group = group;
+        userPointer -> groups = groups;
+        userPointer -> space = NULL;
+        collisionObject -> setUserPointer(userPointer);
+    }
+    /*
+     * Class:     com_jme3_bullet_collision_PhysicsCollisionObject
+     * Method:    setCollisionGroup
+     * Signature: (JI)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionObject_setCollisionGroup
+      (JNIEnv *env, jobject object, jlong objectId, jint group) {
+        btCollisionObject* collisionObject = reinterpret_cast<btCollisionObject*>(objectId);
+        if (collisionObject == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeUserPointer *userPointer = (jmeUserPointer*)collisionObject->getUserPointer();
+        if (userPointer != NULL){
+            userPointer -> group = group;
+        }
+    }
+    /*
+     * Class:     com_jme3_bullet_collision_PhysicsCollisionObject
+     * Method:    setCollideWithGroups
+     * Signature: (JI)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionObject_setCollideWithGroups
+      (JNIEnv *env, jobject object, jlong objectId, jint groups) {
+        btCollisionObject* collisionObject = reinterpret_cast<btCollisionObject*>(objectId);
+        if (collisionObject == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeUserPointer *userPointer = (jmeUserPointer*)collisionObject->getUserPointer();
+        if (userPointer != NULL){
+            userPointer -> groups = groups;
+        }
+    }
+
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_PhysicsCollisionObject.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_PhysicsCollisionObject.h
new file mode 100644 (file)
index 0000000..db5bf7a
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_PhysicsCollisionObject.h
@@ -0,0 +1,87 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_collision_PhysicsCollisionObject */
+
+#ifndef _Included_com_jme3_bullet_collision_PhysicsCollisionObject
+#define _Included_com_jme3_bullet_collision_PhysicsCollisionObject
+#ifdef __cplusplus
+extern "C" {
+#endif
+#undef com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_NONE
+#define com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_NONE 0L
+#undef com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_01
+#define com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_01 1L
+#undef com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_02
+#define com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_02 2L
+#undef com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_03
+#define com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_03 4L
+#undef com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_04
+#define com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_04 8L
+#undef com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_05
+#define com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_05 16L
+#undef com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_06
+#define com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_06 32L
+#undef com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_07
+#define com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_07 64L
+#undef com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_08
+#define com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_08 128L
+#undef com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_09
+#define com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_09 256L
+#undef com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_10
+#define com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_10 512L
+#undef com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_11
+#define com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_11 1024L
+#undef com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_12
+#define com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_12 2048L
+#undef com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_13
+#define com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_13 4096L
+#undef com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_14
+#define com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_14 8192L
+#undef com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_15
+#define com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_15 16384L
+#undef com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_16
+#define com_jme3_bullet_collision_PhysicsCollisionObject_COLLISION_GROUP_16 32768L
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionObject
+ * Method:    initUserPointer
+ * Signature: (JII)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionObject_initUserPointer
+  (JNIEnv *, jobject, jlong, jint, jint);
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionObject
+ * Method:    attachCollisionShape
+ * Signature: (JJ)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionObject_attachCollisionShape
+  (JNIEnv *, jobject, jlong, jlong);
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionObject
+ * Method:    setCollisionGroup
+ * Signature: (JI)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionObject_setCollisionGroup
+  (JNIEnv *, jobject, jlong, jint);
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionObject
+ * Method:    setCollideWithGroups
+ * Signature: (JI)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionObject_setCollideWithGroups
+  (JNIEnv *, jobject, jlong, jint);
+
+/*
+ * Class:     com_jme3_bullet_collision_PhysicsCollisionObject
+ * Method:    finalizeNative
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionObject_finalizeNative
+  (JNIEnv *, jobject, jlong);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_BoxCollisionShape.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_BoxCollisionShape.cpp
new file mode 100644 (file)
index 0000000..3d2f0e3
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_BoxCollisionShape.cpp
@@ -0,0 +1,59 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+#include "com_jme3_bullet_collision_shapes_BoxCollisionShape.h"
+#include "jmeBulletUtil.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_collision_shapes_BoxCollisionShape
+     * Method:    createShape
+     * Signature: (Lcom/jme3/math/Vector3f;)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_BoxCollisionShape_createShape
+    (JNIEnv *env, jobject object, jobject halfExtents) {
+        jmeClasses::initJavaClasses(env);
+        btVector3 extents =  btVector3();
+        jmeBulletUtil::convert(env, halfExtents, &extents);
+        btBoxShape* shape = new btBoxShape(extents);
+        return reinterpret_cast<jlong>(shape);
+    }
+
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_BoxCollisionShape.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_BoxCollisionShape.h
new file mode 100644 (file)
index 0000000..5602a0d
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_BoxCollisionShape.h
@@ -0,0 +1,21 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_collision_shapes_BoxCollisionShape */
+
+#ifndef _Included_com_jme3_bullet_collision_shapes_BoxCollisionShape
+#define _Included_com_jme3_bullet_collision_shapes_BoxCollisionShape
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_jme3_bullet_collision_shapes_BoxCollisionShape
+ * Method:    createShape
+ * Signature: (Lcom/jme3/math/Vector3f;)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_BoxCollisionShape_createShape
+  (JNIEnv *, jobject, jobject);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_CapsuleCollisionShape.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_CapsuleCollisionShape.cpp
new file mode 100644 (file)
index 0000000..b3d4a8e
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_CapsuleCollisionShape.cpp
@@ -0,0 +1,68 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+#include "com_jme3_bullet_collision_shapes_CapsuleCollisionShape.h"
+#include "jmeBulletUtil.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_collision_shapes_CapsuleCollisionShape
+     * Method:    createShape
+     * Signature: (IFF)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_CapsuleCollisionShape_createShape
+    (JNIEnv * env, jobject object, jint axis, jfloat radius, jfloat height) {
+        jmeClasses::initJavaClasses(env);
+        btCollisionShape* shape;
+        switch(axis){
+            case 0:
+                shape = new btCapsuleShapeX(radius, height);
+                break;
+            case 1:
+                shape = new btCapsuleShape(radius, height);
+                break;
+            case 2:
+                shape = new btCapsuleShapeZ(radius, height);
+                break;
+        }
+        return reinterpret_cast<jlong>(shape);
+    }
+
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_CapsuleCollisionShape.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_CapsuleCollisionShape.h
new file mode 100644 (file)
index 0000000..4d70674
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_CapsuleCollisionShape.h
@@ -0,0 +1,21 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_collision_shapes_CapsuleCollisionShape */
+
+#ifndef _Included_com_jme3_bullet_collision_shapes_CapsuleCollisionShape
+#define _Included_com_jme3_bullet_collision_shapes_CapsuleCollisionShape
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_jme3_bullet_collision_shapes_CapsuleCollisionShape
+ * Method:    createShape
+ * Signature: (IFF)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_CapsuleCollisionShape_createShape
+  (JNIEnv *, jobject, jint, jfloat, jfloat);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_CollisionShape.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_CollisionShape.cpp
new file mode 100644 (file)
index 0000000..efd7990
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_CollisionShape.cpp
@@ -0,0 +1,110 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+#include "com_jme3_bullet_collision_shapes_CollisionShape.h"
+#include "jmeBulletUtil.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_collision_shapes_CollisionShape
+     * Method:    getMargin
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_collision_shapes_CollisionShape_getMargin
+    (JNIEnv * env, jobject object, jlong shapeId) {
+        btCollisionShape* shape = reinterpret_cast<btCollisionShape*>(shapeId);
+        if (shape == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return shape->getMargin();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_collision_shapes_CollisionShape
+     * Method:    setLocalScaling
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_shapes_CollisionShape_setLocalScaling
+    (JNIEnv * env, jobject object, jlong shapeId, jobject scale) {
+        btCollisionShape* shape = reinterpret_cast<btCollisionShape*>(shapeId);
+        if (shape == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        btVector3 scl = btVector3();
+        jmeBulletUtil::convert(env, scale, &scl);
+        shape->setLocalScaling(scl);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_collision_shapes_CollisionShape
+     * Method:    setMargin
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_shapes_CollisionShape_setMargin
+    (JNIEnv * env, jobject object, jlong shapeId, jfloat newMargin) {
+        btCollisionShape* shape = reinterpret_cast<btCollisionShape*>(shapeId);
+        if (shape == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        shape->setMargin(newMargin);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_collision_shapes_CollisionShape
+     * Method:    finalizeNative
+     * Signature: (J)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_shapes_CollisionShape_finalizeNative
+    (JNIEnv * env, jobject object, jlong shapeId) {
+        btCollisionShape* shape = reinterpret_cast<btCollisionShape*>(shapeId);
+        if (shape == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        delete(shape);
+    }
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_CollisionShape.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_CollisionShape.h
new file mode 100644 (file)
index 0000000..cd5d70f
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_CollisionShape.h
@@ -0,0 +1,45 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_collision_shapes_CollisionShape */
+
+#ifndef _Included_com_jme3_bullet_collision_shapes_CollisionShape
+#define _Included_com_jme3_bullet_collision_shapes_CollisionShape
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_jme3_bullet_collision_shapes_CollisionShape
+ * Method:    getMargin
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_collision_shapes_CollisionShape_getMargin
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_collision_shapes_CollisionShape
+ * Method:    setLocalScaling
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_shapes_CollisionShape_setLocalScaling
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_collision_shapes_CollisionShape
+ * Method:    setMargin
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_shapes_CollisionShape_setMargin
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_collision_shapes_CollisionShape
+ * Method:    finalizeNative
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_shapes_CollisionShape_finalizeNative
+  (JNIEnv *, jobject, jlong);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_CompoundCollisionShape.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_CompoundCollisionShape.cpp
new file mode 100644 (file)
index 0000000..5282175
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_CompoundCollisionShape.cpp
@@ -0,0 +1,107 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+#include "com_jme3_bullet_collision_shapes_CompoundCollisionShape.h"
+#include "jmeBulletUtil.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+     * Class:     com_jme3_bullet_collision_shapes_CompoundCollisionShape
+     * Method:    createShape
+     * Signature: ()J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_CompoundCollisionShape_createShape
+    (JNIEnv *env, jobject object) {
+        jmeClasses::initJavaClasses(env);
+        btCompoundShape* shape = new btCompoundShape();
+        return reinterpret_cast<jlong>(shape);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_collision_shapes_CompoundCollisionShape
+     * Method:    addChildShape
+     * Signature: (JJLcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_CompoundCollisionShape_addChildShape
+    (JNIEnv *env, jobject object, jlong compoundId, jlong childId, jobject childLocation, jobject childRotation) {
+        btCompoundShape* shape = reinterpret_cast<btCompoundShape*>(compoundId);
+        if (shape == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        btCollisionShape* child = reinterpret_cast<btCollisionShape*>(childId);
+        if (shape == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        btMatrix3x3 mtx = btMatrix3x3();
+        btTransform trans = btTransform(mtx);
+        jmeBulletUtil::convert(env, childLocation, &trans.getOrigin());
+        jmeBulletUtil::convert(env, childRotation, &trans.getBasis());
+        shape->addChildShape(trans, child);
+        return 0;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_collision_shapes_CompoundCollisionShape
+     * Method:    removeChildShape
+     * Signature: (JJ)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_CompoundCollisionShape_removeChildShape
+    (JNIEnv * env, jobject object, jlong compoundId, jlong childId) {
+        btCompoundShape* shape = reinterpret_cast<btCompoundShape*>(compoundId);
+        if (shape == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        btCollisionShape* child = reinterpret_cast<btCollisionShape*>(childId);
+        if (shape == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        shape->removeChildShape(child);
+        return 0;
+    }
+
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_CompoundCollisionShape.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_CompoundCollisionShape.h
new file mode 100644 (file)
index 0000000..18783ce
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_CompoundCollisionShape.h
@@ -0,0 +1,37 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_collision_shapes_CompoundCollisionShape */
+
+#ifndef _Included_com_jme3_bullet_collision_shapes_CompoundCollisionShape
+#define _Included_com_jme3_bullet_collision_shapes_CompoundCollisionShape
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_jme3_bullet_collision_shapes_CompoundCollisionShape
+ * Method:    createShape
+ * Signature: ()J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_CompoundCollisionShape_createShape
+  (JNIEnv *, jobject);
+
+/*
+ * Class:     com_jme3_bullet_collision_shapes_CompoundCollisionShape
+ * Method:    addChildShape
+ * Signature: (JJLcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_CompoundCollisionShape_addChildShape
+  (JNIEnv *, jobject, jlong, jlong, jobject, jobject);
+
+/*
+ * Class:     com_jme3_bullet_collision_shapes_CompoundCollisionShape
+ * Method:    removeChildShape
+ * Signature: (JJ)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_CompoundCollisionShape_removeChildShape
+  (JNIEnv *, jobject, jlong, jlong);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_ConeCollisionShape.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_ConeCollisionShape.cpp
new file mode 100644 (file)
index 0000000..06de8dd
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_ConeCollisionShape.cpp
@@ -0,0 +1,68 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+#include "com_jme3_bullet_collision_shapes_ConeCollisionShape.h"
+#include "jmeBulletUtil.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_collision_shapes_ConeCollisionShape
+     * Method:    createShape
+     * Signature: (IFF)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_ConeCollisionShape_createShape
+    (JNIEnv * env, jobject object, jint axis, jfloat radius, jfloat height) {
+        jmeClasses::initJavaClasses(env);
+        btCollisionShape* shape;
+        switch (axis) {
+            case 0:
+                shape = new btConeShapeX(radius, height);
+                break;
+            case 1:
+                shape = new btConeShape(radius, height);
+                break;
+            case 2:
+                shape = new btConeShapeZ(radius, height);
+                break;
+        }
+        return reinterpret_cast<jlong>(shape);
+    }
+
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_ConeCollisionShape.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_ConeCollisionShape.h
new file mode 100644 (file)
index 0000000..711276e
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_ConeCollisionShape.h
@@ -0,0 +1,21 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_collision_shapes_ConeCollisionShape */
+
+#ifndef _Included_com_jme3_bullet_collision_shapes_ConeCollisionShape
+#define _Included_com_jme3_bullet_collision_shapes_ConeCollisionShape
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_jme3_bullet_collision_shapes_ConeCollisionShape
+ * Method:    createShape
+ * Signature: (IFF)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_ConeCollisionShape_createShape
+  (JNIEnv *, jobject, jint, jfloat, jfloat);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_CylinderCollisionShape.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_CylinderCollisionShape.cpp
new file mode 100644 (file)
index 0000000..fd82f13
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_CylinderCollisionShape.cpp
@@ -0,0 +1,70 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+#include "com_jme3_bullet_collision_shapes_CylinderCollisionShape.h"
+#include "jmeBulletUtil.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_collision_shapes_CylinderCollisionShape
+     * Method:    createShape
+     * Signature: (ILcom/jme3/math/Vector3f;)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_CylinderCollisionShape_createShape
+    (JNIEnv * env, jobject object, jint axis, jobject halfExtents) {
+        jmeClasses::initJavaClasses(env);
+        btVector3 extents = btVector3();
+        jmeBulletUtil::convert(env, halfExtents, &extents);
+        btCollisionShape* shape;
+        switch (axis) {
+            case 0:
+                shape = new btCylinderShapeX(extents);
+                break;
+            case 1:
+                shape = new btCylinderShape(extents);
+                break;
+            case 2:
+                shape = new btCylinderShapeZ(extents);
+                break;
+        }
+        return reinterpret_cast<jlong>(shape);
+    }
+
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_CylinderCollisionShape.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_CylinderCollisionShape.h
new file mode 100644 (file)
index 0000000..48a665a
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_CylinderCollisionShape.h
@@ -0,0 +1,21 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_collision_shapes_CylinderCollisionShape */
+
+#ifndef _Included_com_jme3_bullet_collision_shapes_CylinderCollisionShape
+#define _Included_com_jme3_bullet_collision_shapes_CylinderCollisionShape
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_jme3_bullet_collision_shapes_CylinderCollisionShape
+ * Method:    createShape
+ * Signature: (ILcom/jme3/math/Vector3f;)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_CylinderCollisionShape_createShape
+  (JNIEnv *, jobject, jint, jobject);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_GImpactCollisionShape.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_GImpactCollisionShape.cpp
new file mode 100644 (file)
index 0000000..4df00c5
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_GImpactCollisionShape.cpp
@@ -0,0 +1,70 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+#include "com_jme3_bullet_collision_shapes_GImpactCollisionShape.h"
+#include "jmeBulletUtil.h"
+#include <BulletCollision/Gimpact/btGImpactShape.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_collision_shapes_GImpactCollisionShape
+     * Method:    createShape
+     * Signature: (J)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_GImpactCollisionShape_createShape
+    (JNIEnv * env, jobject object, jlong meshId) {
+        jmeClasses::initJavaClasses(env);
+        btTriangleIndexVertexArray* array = reinterpret_cast<btTriangleIndexVertexArray*>(meshId);
+        btGImpactMeshShape* shape = new btGImpactMeshShape(array);
+        return reinterpret_cast<jlong>(shape);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_collision_shapes_GImpactCollisionShape
+     * Method:    finalizeNative
+     * Signature: (J)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_shapes_GImpactCollisionShape_finalizeNative
+    (JNIEnv * env, jobject object, jlong meshId) {
+        btTriangleIndexVertexArray* array = reinterpret_cast<btTriangleIndexVertexArray*>(meshId);
+        delete(array);
+    }
+    
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_GImpactCollisionShape.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_GImpactCollisionShape.h
new file mode 100644 (file)
index 0000000..f08d3eb
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_GImpactCollisionShape.h
@@ -0,0 +1,29 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_collision_shapes_GImpactCollisionShape */
+
+#ifndef _Included_com_jme3_bullet_collision_shapes_GImpactCollisionShape
+#define _Included_com_jme3_bullet_collision_shapes_GImpactCollisionShape
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_jme3_bullet_collision_shapes_GImpactCollisionShape
+ * Method:    createShape
+ * Signature: (J)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_GImpactCollisionShape_createShape
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_collision_shapes_GImpactCollisionShape
+ * Method:    finalizeNative
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_shapes_GImpactCollisionShape_finalizeNative
+  (JNIEnv *, jobject, jlong);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_HeightfieldCollisionShape.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_HeightfieldCollisionShape.cpp
new file mode 100644 (file)
index 0000000..06698a1
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_HeightfieldCollisionShape.cpp
@@ -0,0 +1,59 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+#include "com_jme3_bullet_collision_shapes_HeightfieldCollisionShape.h"
+#include "jmeBulletUtil.h"
+#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_collision_shapes_HeightfieldCollisionShape
+     * Method:    createShape
+     * Signature: (II[FFFFIZ)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_HeightfieldCollisionShape_createShape
+    (JNIEnv * env, jobject object, jint heightStickWidth, jint heightStickLength, jobject heightfieldData, jfloat heightScale, jfloat minHeight, jfloat maxHeight, jint upAxis, jboolean flipQuadEdges) {
+        jmeClasses::initJavaClasses(env);
+        void* data = env->GetDirectBufferAddress(heightfieldData);
+        btHeightfieldTerrainShape* shape=new btHeightfieldTerrainShape(heightStickWidth, heightStickLength, data, heightScale, minHeight, maxHeight, upAxis, PHY_FLOAT, flipQuadEdges);
+        return reinterpret_cast<jlong>(shape);
+    }
+
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_HeightfieldCollisionShape.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_HeightfieldCollisionShape.h
new file mode 100644 (file)
index 0000000..a3d1621
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_HeightfieldCollisionShape.h
@@ -0,0 +1,21 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_collision_shapes_HeightfieldCollisionShape */
+
+#ifndef _Included_com_jme3_bullet_collision_shapes_HeightfieldCollisionShape
+#define _Included_com_jme3_bullet_collision_shapes_HeightfieldCollisionShape
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_jme3_bullet_collision_shapes_HeightfieldCollisionShape
+ * Method:    createShape
+ * Signature: (IILjava/nio/ByteBuffer;FFFIZ)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_HeightfieldCollisionShape_createShape
+  (JNIEnv *, jobject, jint, jint, jobject, jfloat, jfloat, jfloat, jint, jboolean);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_HullCollisionShape.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_HullCollisionShape.cpp
new file mode 100644 (file)
index 0000000..5789bd9
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_HullCollisionShape.cpp
@@ -0,0 +1,69 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+#include "com_jme3_bullet_collision_shapes_HullCollisionShape.h"
+#include "jmeBulletUtil.h"
+#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_collision_shapes_HullCollisionShape
+     * Method:    createShape
+     * Signature: ([F)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_HullCollisionShape_createShape
+    (JNIEnv *env, jobject object, jobject array) {
+        jmeClasses::initJavaClasses(env);
+        float* data = (float*) env->GetDirectBufferAddress(array);
+        //TODO: capacity will not always be length!
+        int length = env->GetDirectBufferCapacity(array)/4;
+        btConvexHullShape* shape = new btConvexHullShape();
+        for (int i = 0; i < length; i+=3) {
+            btVector3 vect = btVector3(data[i],
+                    data[i + 1],
+                    data[i + 2]);
+            
+            shape->addPoint(vect);
+        }
+
+        return reinterpret_cast<jlong>(shape);
+    }
+
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_HullCollisionShape.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_HullCollisionShape.h
new file mode 100644 (file)
index 0000000..42a2672
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_HullCollisionShape.h
@@ -0,0 +1,21 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_collision_shapes_HullCollisionShape */
+
+#ifndef _Included_com_jme3_bullet_collision_shapes_HullCollisionShape
+#define _Included_com_jme3_bullet_collision_shapes_HullCollisionShape
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_jme3_bullet_collision_shapes_HullCollisionShape
+ * Method:    createShape
+ * Signature: (Ljava/nio/ByteBuffer;)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_HullCollisionShape_createShape
+  (JNIEnv *, jobject, jobject);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_MeshCollisionShape.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_MeshCollisionShape.cpp
new file mode 100644 (file)
index 0000000..346d47e
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_MeshCollisionShape.cpp
@@ -0,0 +1,70 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+#include "com_jme3_bullet_collision_shapes_MeshCollisionShape.h"
+#include "jmeBulletUtil.h"
+#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_collision_shapes_MeshCollisionShape
+     * Method:    createShape
+     * Signature: (J)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_MeshCollisionShape_createShape
+    (JNIEnv * env, jobject object, jlong arrayId) {
+        jmeClasses::initJavaClasses(env);
+        btTriangleIndexVertexArray* array = reinterpret_cast<btTriangleIndexVertexArray*>(arrayId);
+        btBvhTriangleMeshShape* shape = new btBvhTriangleMeshShape(array, true, true);
+        return reinterpret_cast<jlong>(shape);
+    }
+    
+    /*
+     * Class:     com_jme3_bullet_collision_shapes_MeshCollisionShape
+     * Method:    finalizeNative
+     * Signature: (J)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_shapes_MeshCollisionShape_finalizeNative
+    (JNIEnv * env, jobject object, jlong arrayId){
+        btTriangleIndexVertexArray* array = reinterpret_cast<btTriangleIndexVertexArray*>(arrayId);
+        delete(array);
+    }
+
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_MeshCollisionShape.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_MeshCollisionShape.h
new file mode 100644 (file)
index 0000000..4dd6aa2
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_MeshCollisionShape.h
@@ -0,0 +1,29 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_collision_shapes_MeshCollisionShape */
+
+#ifndef _Included_com_jme3_bullet_collision_shapes_MeshCollisionShape
+#define _Included_com_jme3_bullet_collision_shapes_MeshCollisionShape
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_jme3_bullet_collision_shapes_MeshCollisionShape
+ * Method:    createShape
+ * Signature: (J)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_MeshCollisionShape_createShape
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_collision_shapes_MeshCollisionShape
+ * Method:    finalizeNative
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_shapes_MeshCollisionShape_finalizeNative
+  (JNIEnv *, jobject, jlong);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_PlaneCollisionShape.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_PlaneCollisionShape.cpp
new file mode 100644 (file)
index 0000000..b8c9adc
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_PlaneCollisionShape.cpp
@@ -0,0 +1,60 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+#include "com_jme3_bullet_collision_shapes_PlaneCollisionShape.h"
+#include "jmeBulletUtil.h"
+#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_collision_shapes_PlaneCollisionShape
+     * Method:    createShape
+     * Signature: (Lcom/jme3/math/Vector3f;F)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_PlaneCollisionShape_createShape
+    (JNIEnv * env, jobject object, jobject normal, jfloat constant) {
+        jmeClasses::initJavaClasses(env);
+        btVector3 norm = btVector3();
+        jmeBulletUtil::convert(env, normal, &norm);
+        btStaticPlaneShape* shape = new btStaticPlaneShape(norm, constant);
+        return reinterpret_cast<jlong>(shape);
+    }
+
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_PlaneCollisionShape.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_PlaneCollisionShape.h
new file mode 100644 (file)
index 0000000..7e7a22b
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_PlaneCollisionShape.h
@@ -0,0 +1,21 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_collision_shapes_PlaneCollisionShape */
+
+#ifndef _Included_com_jme3_bullet_collision_shapes_PlaneCollisionShape
+#define _Included_com_jme3_bullet_collision_shapes_PlaneCollisionShape
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_jme3_bullet_collision_shapes_PlaneCollisionShape
+ * Method:    createShape
+ * Signature: (Lcom/jme3/math/Vector3f;F)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_PlaneCollisionShape_createShape
+  (JNIEnv *, jobject, jobject, jfloat);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_SimplexCollisionShape.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_SimplexCollisionShape.cpp
new file mode 100644 (file)
index 0000000..7337945
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_SimplexCollisionShape.cpp
@@ -0,0 +1,110 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+#include "com_jme3_bullet_collision_shapes_SimplexCollisionShape.h"
+#include "jmeBulletUtil.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_collision_shapes_SimplexCollisionShape
+     * Method:    createShape
+     * Signature: (Lcom/jme3/math/Vector3f;)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_SimplexCollisionShape_createShape__Lcom_jme3_math_Vector3f_2
+    (JNIEnv *env, jobject object, jobject vector1) {
+        jmeClasses::initJavaClasses(env);
+        btVector3 vec1 = btVector3();
+        jmeBulletUtil::convert(env, vector1, &vec1);
+        btBU_Simplex1to4* simplexShape = new btBU_Simplex1to4(vec1);
+        return reinterpret_cast<jlong>(simplexShape);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_collision_shapes_SimplexCollisionShape
+     * Method:    createShape
+     * Signature: (Lcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_SimplexCollisionShape_createShape__Lcom_jme3_math_Vector3f_2Lcom_jme3_math_Vector3f_2
+    (JNIEnv *env, jobject object, jobject vector1, jobject vector2) {
+        jmeClasses::initJavaClasses(env);
+        btVector3 vec1 = btVector3();
+        jmeBulletUtil::convert(env, vector1, &vec1);
+        btVector3 vec2 = btVector3();
+        jmeBulletUtil::convert(env, vector2, &vec2);
+        btBU_Simplex1to4* simplexShape = new btBU_Simplex1to4(vec1, vec2);
+        return reinterpret_cast<jlong>(simplexShape);
+    }
+    /*
+     * Class:     com_jme3_bullet_collision_shapes_SimplexCollisionShape
+     * Method:    createShape
+     * Signature: (Lcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_SimplexCollisionShape_createShape__Lcom_jme3_math_Vector3f_2Lcom_jme3_math_Vector3f_2Lcom_jme3_math_Vector3f_2
+    (JNIEnv * env, jobject object, jobject vector1, jobject vector2, jobject vector3) {
+        jmeClasses::initJavaClasses(env);
+        btVector3 vec1 = btVector3();
+        jmeBulletUtil::convert(env, vector1, &vec1);
+        btVector3 vec2 = btVector3();
+        jmeBulletUtil::convert(env, vector2, &vec2);
+        btVector3 vec3 = btVector3();
+        jmeBulletUtil::convert(env, vector3, &vec3);
+        btBU_Simplex1to4* simplexShape = new btBU_Simplex1to4(vec1, vec2, vec3);
+        return reinterpret_cast<jlong>(simplexShape);
+    }
+    /*
+     * Class:     com_jme3_bullet_collision_shapes_SimplexCollisionShape
+     * Method:    createShape
+     * Signature: (Lcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_SimplexCollisionShape_createShape__Lcom_jme3_math_Vector3f_2Lcom_jme3_math_Vector3f_2Lcom_jme3_math_Vector3f_2Lcom_jme3_math_Vector3f_2
+    (JNIEnv * env, jobject object, jobject vector1, jobject vector2, jobject vector3, jobject vector4) {
+        jmeClasses::initJavaClasses(env);
+        btVector3 vec1 = btVector3();
+        jmeBulletUtil::convert(env, vector1, &vec1);
+        btVector3 vec2 = btVector3();
+        jmeBulletUtil::convert(env, vector2, &vec2);
+        btVector3 vec3 = btVector3();
+        jmeBulletUtil::convert(env, vector3, &vec3);
+        btVector3 vec4 = btVector3();
+        jmeBulletUtil::convert(env, vector4, &vec4);
+        btBU_Simplex1to4* simplexShape = new btBU_Simplex1to4(vec1, vec2, vec3, vec4);
+        return reinterpret_cast<jlong>(simplexShape);
+    }
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_SimplexCollisionShape.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_SimplexCollisionShape.h
new file mode 100644 (file)
index 0000000..e50d062
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_SimplexCollisionShape.h
@@ -0,0 +1,45 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_collision_shapes_SimplexCollisionShape */
+
+#ifndef _Included_com_jme3_bullet_collision_shapes_SimplexCollisionShape
+#define _Included_com_jme3_bullet_collision_shapes_SimplexCollisionShape
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_jme3_bullet_collision_shapes_SimplexCollisionShape
+ * Method:    createShape
+ * Signature: (Lcom/jme3/math/Vector3f;)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_SimplexCollisionShape_createShape__Lcom_jme3_math_Vector3f_2
+  (JNIEnv *, jobject, jobject);
+
+/*
+ * Class:     com_jme3_bullet_collision_shapes_SimplexCollisionShape
+ * Method:    createShape
+ * Signature: (Lcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_SimplexCollisionShape_createShape__Lcom_jme3_math_Vector3f_2Lcom_jme3_math_Vector3f_2
+  (JNIEnv *, jobject, jobject, jobject);
+
+/*
+ * Class:     com_jme3_bullet_collision_shapes_SimplexCollisionShape
+ * Method:    createShape
+ * Signature: (Lcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_SimplexCollisionShape_createShape__Lcom_jme3_math_Vector3f_2Lcom_jme3_math_Vector3f_2Lcom_jme3_math_Vector3f_2
+  (JNIEnv *, jobject, jobject, jobject, jobject);
+
+/*
+ * Class:     com_jme3_bullet_collision_shapes_SimplexCollisionShape
+ * Method:    createShape
+ * Signature: (Lcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_SimplexCollisionShape_createShape__Lcom_jme3_math_Vector3f_2Lcom_jme3_math_Vector3f_2Lcom_jme3_math_Vector3f_2Lcom_jme3_math_Vector3f_2
+  (JNIEnv *, jobject, jobject, jobject, jobject, jobject);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_SphereCollisionShape.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_SphereCollisionShape.cpp
new file mode 100644 (file)
index 0000000..8f4b984
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_SphereCollisionShape.cpp
@@ -0,0 +1,57 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+#include "com_jme3_bullet_collision_shapes_SphereCollisionShape.h"
+#include "jmeBulletUtil.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_collision_shapes_SphereCollisionShape
+     * Method:    createShape
+     * Signature: (F)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_SphereCollisionShape_createShape
+    (JNIEnv *env, jobject object, jfloat radius) {
+        jmeClasses::initJavaClasses(env);
+        btSphereShape* shape=new btSphereShape(radius);
+        return reinterpret_cast<jlong>(shape);
+    }
+
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_SphereCollisionShape.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_SphereCollisionShape.h
new file mode 100644 (file)
index 0000000..ef1b2cb
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_collision_shapes_SphereCollisionShape.h
@@ -0,0 +1,21 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_collision_shapes_SphereCollisionShape */
+
+#ifndef _Included_com_jme3_bullet_collision_shapes_SphereCollisionShape
+#define _Included_com_jme3_bullet_collision_shapes_SphereCollisionShape
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_jme3_bullet_collision_shapes_SphereCollisionShape
+ * Method:    createShape
+ * Signature: (F)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_SphereCollisionShape_createShape
+  (JNIEnv *, jobject, jfloat);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_ConeJoint.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_ConeJoint.cpp
new file mode 100644 (file)
index 0000000..cade120
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_ConeJoint.cpp
@@ -0,0 +1,100 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+#include "com_jme3_bullet_joints_ConeJoint.h"
+#include "jmeBulletUtil.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_joints_ConeJoint
+     * Method:    setLimit
+     * Signature: (JFFF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_ConeJoint_setLimit
+    (JNIEnv * env, jobject object, jlong jointId, jfloat swingSpan1, jfloat swingSpan2, jfloat twistSpan) {
+        btConeTwistConstraint* joint = reinterpret_cast<btConeTwistConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        //TODO: extended setLimit!
+        joint->setLimit(swingSpan1, swingSpan2, twistSpan);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_ConeJoint
+     * Method:    setAngularOnly
+     * Signature: (JZ)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_ConeJoint_setAngularOnly
+    (JNIEnv * env, jobject object, jlong jointId, jboolean angularOnly) {
+        btConeTwistConstraint* joint = reinterpret_cast<btConeTwistConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setAngularOnly(angularOnly);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_ConeJoint
+     * Method:    createJoint
+     * Signature: (JJLcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_ConeJoint_createJoint
+    (JNIEnv * env, jobject object, jlong bodyIdA, jlong bodyIdB, jobject pivotA, jobject rotA, jobject pivotB, jobject rotB) {
+        jmeClasses::initJavaClasses(env);
+        btRigidBody* bodyA = reinterpret_cast<btRigidBody*>(bodyIdA);
+        btRigidBody* bodyB = reinterpret_cast<btRigidBody*>(bodyIdB);
+        btMatrix3x3 mtx1 = btMatrix3x3();
+        btMatrix3x3 mtx2 = btMatrix3x3();
+        btTransform transA = btTransform(mtx1);
+        jmeBulletUtil::convert(env, pivotA, &transA.getOrigin());
+        jmeBulletUtil::convert(env, rotA, &transA.getBasis());
+        btTransform transB = btTransform(mtx2);
+        jmeBulletUtil::convert(env, pivotB, &transB.getOrigin());
+        jmeBulletUtil::convert(env, rotB, &transB.getBasis());
+        btConeTwistConstraint* joint = new btConeTwistConstraint(*bodyA, *bodyB, transA, transB);
+        return reinterpret_cast<jlong>(joint);
+    }
+
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_ConeJoint.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_ConeJoint.h
new file mode 100644 (file)
index 0000000..327b47f
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_ConeJoint.h
@@ -0,0 +1,37 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_joints_ConeJoint */
+
+#ifndef _Included_com_jme3_bullet_joints_ConeJoint
+#define _Included_com_jme3_bullet_joints_ConeJoint
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_jme3_bullet_joints_ConeJoint
+ * Method:    setLimit
+ * Signature: (JFFF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_ConeJoint_setLimit
+  (JNIEnv *, jobject, jlong, jfloat, jfloat, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_ConeJoint
+ * Method:    setAngularOnly
+ * Signature: (JZ)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_ConeJoint_setAngularOnly
+  (JNIEnv *, jobject, jlong, jboolean);
+
+/*
+ * Class:     com_jme3_bullet_joints_ConeJoint
+ * Method:    createJoint
+ * Signature: (JJLcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_ConeJoint_createJoint
+  (JNIEnv *, jobject, jlong, jlong, jobject, jobject, jobject, jobject);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_HingeJoint.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_HingeJoint.cpp
new file mode 100644 (file)
index 0000000..56a6fec
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_HingeJoint.cpp
@@ -0,0 +1,226 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+#include "com_jme3_bullet_joints_HingeJoint.h"
+#include "jmeBulletUtil.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_joints_HingeJoint
+     * Method:    enableMotor
+     * Signature: (JZFF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_HingeJoint_enableMotor
+    (JNIEnv * env, jobject object, jlong jointId, jboolean enable, jfloat targetVelocity, jfloat maxMotorImpulse) {
+        btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->enableAngularMotor(enable, targetVelocity, maxMotorImpulse);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_HingeJoint
+     * Method:    getEnableAngularMotor
+     * Signature: (J)Z
+     */
+    JNIEXPORT jboolean JNICALL Java_com_jme3_bullet_joints_HingeJoint_getEnableAngularMotor
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return false;
+        }
+        return joint->getEnableAngularMotor();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_HingeJoint
+     * Method:    getMotorTargetVelocity
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_HingeJoint_getMotorTargetVelocity
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getMotorTargetVelosity();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_HingeJoint
+     * Method:    getMaxMotorImpulse
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_HingeJoint_getMaxMotorImpulse
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getMaxMotorImpulse();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_HingeJoint
+     * Method:    setLimit
+     * Signature: (JFF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_HingeJoint_setLimit__JFF
+    (JNIEnv * env, jobject object, jlong jointId, jfloat low, jfloat high) {
+        btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        return joint->setLimit(low, high);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_HingeJoint
+     * Method:    setLimit
+     * Signature: (JFFFFF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_HingeJoint_setLimit__JFFFFF
+    (JNIEnv * env, jobject object, jlong jointId, jfloat low, jfloat high, jfloat softness, jfloat biasFactor, jfloat relaxationFactor) {
+        btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        return joint->setLimit(low, high, softness, biasFactor, relaxationFactor);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_HingeJoint
+     * Method:    getUpperLimit
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_HingeJoint_getUpperLimit
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getUpperLimit();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_HingeJoint
+     * Method:    getLowerLimit
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_HingeJoint_getLowerLimit
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getLowerLimit();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_HingeJoint
+     * Method:    setAngularOnly
+     * Signature: (JZ)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_HingeJoint_setAngularOnly
+    (JNIEnv * env, jobject object, jlong jointId, jboolean angular) {
+        btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setAngularOnly(angular);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_HingeJoint
+     * Method:    getHingeAngle
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_HingeJoint_getHingeAngle
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getHingeAngle();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_HingeJoint
+     * Method:    createJoint
+     * Signature: (JJLcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_HingeJoint_createJoint
+    (JNIEnv * env, jobject object, jlong bodyIdA, jlong bodyIdB, jobject pivotA, jobject axisA, jobject pivotB, jobject axisB) {
+        jmeClasses::initJavaClasses(env);
+        btRigidBody* bodyA = reinterpret_cast<btRigidBody*>(bodyIdA);
+        btRigidBody* bodyB = reinterpret_cast<btRigidBody*>(bodyIdB);
+        btVector3 vec1 = btVector3();
+        btVector3 vec2 = btVector3();
+        btVector3 vec3 = btVector3();
+        btVector3 vec4 = btVector3();
+        jmeBulletUtil::convert(env, pivotA, &vec1);
+        jmeBulletUtil::convert(env, pivotB, &vec2);
+        jmeBulletUtil::convert(env, axisA, &vec3);
+        jmeBulletUtil::convert(env, axisB, &vec4);
+        btHingeConstraint* joint = new btHingeConstraint(*bodyA, *bodyB, vec1, vec2, vec3, vec4);
+        return reinterpret_cast<jlong>(joint);
+    }
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_HingeJoint.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_HingeJoint.h
new file mode 100644 (file)
index 0000000..ab6e003
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_HingeJoint.h
@@ -0,0 +1,101 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_joints_HingeJoint */
+
+#ifndef _Included_com_jme3_bullet_joints_HingeJoint
+#define _Included_com_jme3_bullet_joints_HingeJoint
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_jme3_bullet_joints_HingeJoint
+ * Method:    enableMotor
+ * Signature: (JZFF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_HingeJoint_enableMotor
+  (JNIEnv *, jobject, jlong, jboolean, jfloat, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_HingeJoint
+ * Method:    getEnableAngularMotor
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean JNICALL Java_com_jme3_bullet_joints_HingeJoint_getEnableAngularMotor
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_HingeJoint
+ * Method:    getMotorTargetVelocity
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_HingeJoint_getMotorTargetVelocity
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_HingeJoint
+ * Method:    getMaxMotorImpulse
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_HingeJoint_getMaxMotorImpulse
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_HingeJoint
+ * Method:    setLimit
+ * Signature: (JFF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_HingeJoint_setLimit__JFF
+  (JNIEnv *, jobject, jlong, jfloat, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_HingeJoint
+ * Method:    setLimit
+ * Signature: (JFFFFF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_HingeJoint_setLimit__JFFFFF
+  (JNIEnv *, jobject, jlong, jfloat, jfloat, jfloat, jfloat, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_HingeJoint
+ * Method:    getUpperLimit
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_HingeJoint_getUpperLimit
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_HingeJoint
+ * Method:    getLowerLimit
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_HingeJoint_getLowerLimit
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_HingeJoint
+ * Method:    setAngularOnly
+ * Signature: (JZ)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_HingeJoint_setAngularOnly
+  (JNIEnv *, jobject, jlong, jboolean);
+
+/*
+ * Class:     com_jme3_bullet_joints_HingeJoint
+ * Method:    getHingeAngle
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_HingeJoint_getHingeAngle
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_HingeJoint
+ * Method:    createJoint
+ * Signature: (JJLcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_HingeJoint_createJoint
+  (JNIEnv *, jobject, jlong, jlong, jobject, jobject, jobject, jobject);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_PhysicsJoint.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_PhysicsJoint.cpp
new file mode 100644 (file)
index 0000000..3ba4fc3
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_PhysicsJoint.cpp
@@ -0,0 +1,70 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+#include "com_jme3_bullet_joints_PhysicsJoint.h"
+#include "jmeBulletUtil.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_joints_PhysicsJoint
+     * Method:    getAppliedImpulse
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_PhysicsJoint_getAppliedImpulse
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btTypedConstraint* joint = reinterpret_cast<btTypedConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getAppliedImpulse();
+    }
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_PhysicsJoint_finalizeNative
+      (JNIEnv *env, jobject object, jlong jointId) {
+        btTypedConstraint* joint = reinterpret_cast<btTypedConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+        }
+        delete joint;
+    }
+
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_PhysicsJoint.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_PhysicsJoint.h
new file mode 100644 (file)
index 0000000..63e21a7
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_PhysicsJoint.h
@@ -0,0 +1,29 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_joints_PhysicsJoint */
+
+#ifndef _Included_com_jme3_bullet_joints_PhysicsJoint
+#define _Included_com_jme3_bullet_joints_PhysicsJoint
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_jme3_bullet_joints_PhysicsJoint
+ * Method:    getAppliedImpulse
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_PhysicsJoint_getAppliedImpulse
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_PhysicsJoint
+ * Method:    finalizeNative
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_PhysicsJoint_finalizeNative
+  (JNIEnv *, jobject, jlong);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_Point2PointJoint.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_Point2PointJoint.cpp
new file mode 100644 (file)
index 0000000..e019b9b
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_Point2PointJoint.cpp
@@ -0,0 +1,162 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+#include "com_jme3_bullet_joints_Point2PointJoint.h"
+#include "jmeBulletUtil.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_joints_Point2PointJoint
+     * Method:    setDamping
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_Point2PointJoint_setDamping
+    (JNIEnv * env, jobject object, jlong jointId, jfloat damping) {
+        btPoint2PointConstraint* joint = reinterpret_cast<btPoint2PointConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->m_setting.m_damping = damping;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_Point2PointJoint
+     * Method:    setImpulseClamp
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_Point2PointJoint_setImpulseClamp
+    (JNIEnv * env, jobject object, jlong jointId, jfloat clamp) {
+        btPoint2PointConstraint* joint = reinterpret_cast<btPoint2PointConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->m_setting.m_impulseClamp = clamp;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_Point2PointJoint
+     * Method:    setTau
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_Point2PointJoint_setTau
+    (JNIEnv * env, jobject object, jlong jointId, jfloat tau) {
+        btPoint2PointConstraint* joint = reinterpret_cast<btPoint2PointConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->m_setting.m_tau = tau;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_Point2PointJoint
+     * Method:    getDamping
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_Point2PointJoint_getDamping
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btPoint2PointConstraint* joint = reinterpret_cast<btPoint2PointConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->m_setting.m_damping;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_Point2PointJoint
+     * Method:    getImpulseClamp
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_Point2PointJoint_getImpulseClamp
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btPoint2PointConstraint* joint = reinterpret_cast<btPoint2PointConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->m_setting.m_damping;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_Point2PointJoint
+     * Method:    getTau
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_Point2PointJoint_getTau
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btPoint2PointConstraint* joint = reinterpret_cast<btPoint2PointConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->m_setting.m_damping;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_Point2PointJoint
+     * Method:    createJoint
+     * Signature: (JJLcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_Point2PointJoint_createJoint
+    (JNIEnv * env, jobject object, jlong bodyIdA, jlong bodyIdB, jobject pivotA, jobject pivotB) {
+        jmeClasses::initJavaClasses(env);
+        btRigidBody* bodyA = reinterpret_cast<btRigidBody*>(bodyIdA);
+        btRigidBody* bodyB = reinterpret_cast<btRigidBody*>(bodyIdB);
+        //TODO: matrix not needed?
+        btMatrix3x3 mtx1 = btMatrix3x3();
+        btMatrix3x3 mtx2 = btMatrix3x3();
+        btTransform transA = btTransform(mtx1);
+        jmeBulletUtil::convert(env, pivotA, &transA.getOrigin());
+        btTransform transB = btTransform(mtx2);
+        jmeBulletUtil::convert(env, pivotB, &transB.getOrigin());
+        btHingeConstraint* joint = new btHingeConstraint(*bodyA, *bodyB, transA, transB);
+        return reinterpret_cast<jlong>(joint);
+    }
+
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_Point2PointJoint.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_Point2PointJoint.h
new file mode 100644 (file)
index 0000000..5cb8188
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_Point2PointJoint.h
@@ -0,0 +1,69 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_joints_Point2PointJoint */
+
+#ifndef _Included_com_jme3_bullet_joints_Point2PointJoint
+#define _Included_com_jme3_bullet_joints_Point2PointJoint
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_jme3_bullet_joints_Point2PointJoint
+ * Method:    setDamping
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_Point2PointJoint_setDamping
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_Point2PointJoint
+ * Method:    setImpulseClamp
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_Point2PointJoint_setImpulseClamp
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_Point2PointJoint
+ * Method:    setTau
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_Point2PointJoint_setTau
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_Point2PointJoint
+ * Method:    getDamping
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_Point2PointJoint_getDamping
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_Point2PointJoint
+ * Method:    getImpulseClamp
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_Point2PointJoint_getImpulseClamp
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_Point2PointJoint
+ * Method:    getTau
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_Point2PointJoint_getTau
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_Point2PointJoint
+ * Method:    createJoint
+ * Signature: (JJLcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_Point2PointJoint_createJoint
+  (JNIEnv *, jobject, jlong, jlong, jobject, jobject);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_SixDofJoint.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_SixDofJoint.cpp
new file mode 100644 (file)
index 0000000..9611a14
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_SixDofJoint.cpp
@@ -0,0 +1,170 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+#include "com_jme3_bullet_joints_SixDofJoint.h"
+#include "jmeBulletUtil.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_joints_SixDofJoint
+     * Method:    getRotationalLimitMotor
+     * Signature: (JI)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_SixDofJoint_getRotationalLimitMotor
+    (JNIEnv * env, jobject object, jlong jointId, jint index) {
+        btGeneric6DofConstraint* joint = reinterpret_cast<btGeneric6DofConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return reinterpret_cast<jlong>(joint->getRotationalLimitMotor(index));
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SixDofJoint
+     * Method:    getTranslationalLimitMotor
+     * Signature: (J)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_SixDofJoint_getTranslationalLimitMotor
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btGeneric6DofConstraint* joint = reinterpret_cast<btGeneric6DofConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return reinterpret_cast<jlong>(joint->getTranslationalLimitMotor());
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SixDofJoint
+     * Method:    setLinearUpperLimit
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofJoint_setLinearUpperLimit
+    (JNIEnv * env, jobject object, jlong jointId, jobject vector) {
+        btGeneric6DofConstraint* joint = reinterpret_cast<btGeneric6DofConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        btVector3 vec = btVector3();
+        jmeBulletUtil::convert(env, vector, &vec);
+        joint->setLinearUpperLimit(vec);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SixDofJoint
+     * Method:    setLinearLowerLimit
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofJoint_setLinearLowerLimit
+    (JNIEnv * env, jobject object, jlong jointId, jobject vector) {
+        btGeneric6DofConstraint* joint = reinterpret_cast<btGeneric6DofConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        btVector3 vec = btVector3();
+        jmeBulletUtil::convert(env, vector, &vec);
+        joint->setLinearLowerLimit(vec);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SixDofJoint
+     * Method:    setAngularUpperLimit
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofJoint_setAngularUpperLimit
+    (JNIEnv * env, jobject object, jlong jointId, jobject vector) {
+        btGeneric6DofConstraint* joint = reinterpret_cast<btGeneric6DofConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        btVector3 vec = btVector3();
+        jmeBulletUtil::convert(env, vector, &vec);
+        joint->setAngularUpperLimit(vec);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SixDofJoint
+     * Method:    setAngularLowerLimit
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofJoint_setAngularLowerLimit
+    (JNIEnv * env, jobject object, jlong jointId, jobject vector) {
+        btGeneric6DofConstraint* joint = reinterpret_cast<btGeneric6DofConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        btVector3 vec = btVector3();
+        jmeBulletUtil::convert(env, vector, &vec);
+        joint->setAngularLowerLimit(vec);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SixDofJoint
+     * Method:    createJoint
+     * Signature: (JJLcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;Z)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_SixDofJoint_createJoint
+    (JNIEnv * env, jobject object, jlong bodyIdA, jlong bodyIdB, jobject pivotA, jobject rotA, jobject pivotB, jobject rotB, jboolean useLinearReferenceFrameA) {
+        jmeClasses::initJavaClasses(env);
+        btRigidBody* bodyA = reinterpret_cast<btRigidBody*>(bodyIdA);
+        btRigidBody* bodyB = reinterpret_cast<btRigidBody*>(bodyIdB);
+        btMatrix3x3 mtx1 = btMatrix3x3();
+        btMatrix3x3 mtx2 = btMatrix3x3();
+        btTransform transA = btTransform(mtx1);
+        jmeBulletUtil::convert(env, pivotA, &transA.getOrigin());
+        jmeBulletUtil::convert(env, rotA, &transA.getBasis());
+        btTransform transB = btTransform(mtx2);
+        jmeBulletUtil::convert(env, pivotB, &transB.getOrigin());
+        jmeBulletUtil::convert(env, rotB, &transB.getBasis());
+        btGeneric6DofConstraint* joint = new btGeneric6DofConstraint(*bodyA, *bodyB, transA, transB, useLinearReferenceFrameA);
+        return reinterpret_cast<jlong>(joint);
+    }
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_SixDofJoint.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_SixDofJoint.h
new file mode 100644 (file)
index 0000000..86e6102
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_SixDofJoint.h
@@ -0,0 +1,69 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_joints_SixDofJoint */
+
+#ifndef _Included_com_jme3_bullet_joints_SixDofJoint
+#define _Included_com_jme3_bullet_joints_SixDofJoint
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_jme3_bullet_joints_SixDofJoint
+ * Method:    getRotationalLimitMotor
+ * Signature: (JI)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_SixDofJoint_getRotationalLimitMotor
+  (JNIEnv *, jobject, jlong, jint);
+
+/*
+ * Class:     com_jme3_bullet_joints_SixDofJoint
+ * Method:    getTranslationalLimitMotor
+ * Signature: (J)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_SixDofJoint_getTranslationalLimitMotor
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SixDofJoint
+ * Method:    setLinearUpperLimit
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofJoint_setLinearUpperLimit
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_joints_SixDofJoint
+ * Method:    setLinearLowerLimit
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofJoint_setLinearLowerLimit
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_joints_SixDofJoint
+ * Method:    setAngularUpperLimit
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofJoint_setAngularUpperLimit
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_joints_SixDofJoint
+ * Method:    setAngularLowerLimit
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofJoint_setAngularLowerLimit
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_joints_SixDofJoint
+ * Method:    createJoint
+ * Signature: (JJLcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;Z)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_SixDofJoint_createJoint
+  (JNIEnv *, jobject, jlong, jlong, jobject, jobject, jobject, jobject, jboolean);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_SixDofSpringJoint.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_SixDofSpringJoint.cpp
new file mode 100644 (file)
index 0000000..39e4c5e
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_SixDofSpringJoint.cpp
@@ -0,0 +1,95 @@
+
+/**
+ * Author: Normen Hansen
+ */
+#include "com_jme3_bullet_joints_SixDofSpringJoint.h"
+#include "jmeBulletUtil.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * Class:     com_jme3_bullet_joints_SixDofSpringJoint
+ * Method:    enableString
+ * Signature: (JIZ)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofSpringJoint_enableSpring
+  (JNIEnv *env, jobject object, jlong jointId, jint index, jboolean onOff) {
+    btGeneric6DofSpringConstraint* joint = reinterpret_cast<btGeneric6DofSpringConstraint*>(jointId);
+    joint -> enableSpring(index, onOff);
+}
+
+
+/*
+ * Class:     com_jme3_bullet_joints_SixDofSpringJoint
+ * Method:    setStiffness
+ * Signature: (JIF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofSpringJoint_setStiffness
+  (JNIEnv *env, jobject object, jlong jointId, jint index, jfloat stiffness) {
+    btGeneric6DofSpringConstraint* joint = reinterpret_cast<btGeneric6DofSpringConstraint*>(jointId);
+    joint -> setStiffness(index, stiffness);
+}
+
+/*
+ * Class:     com_jme3_bullet_joints_SixDofSpringJoint
+ * Method:    setDamping
+ * Signature: (JIF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofSpringJoint_setDamping
+  (JNIEnv *env, jobject object, jlong jointId, jint index, jfloat damping) {
+    btGeneric6DofSpringConstraint* joint = reinterpret_cast<btGeneric6DofSpringConstraint*>(jointId);
+    joint -> setDamping(index, damping);
+}
+
+/*
+ * Class:     com_jme3_bullet_joints_SixDofSpringJoint
+ * Method:    setEquilibriumPoint
+ * Signature: (JIF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofSpringJoint_setEquilibriumPoint__J
+  (JNIEnv *env, jobject object, jlong jointId) {
+    btGeneric6DofSpringConstraint* joint = reinterpret_cast<btGeneric6DofSpringConstraint*>(jointId);
+    joint -> setEquilibriumPoint();
+}
+
+/*
+ * Class:     com_jme3_bullet_joints_SixDofSpringJoint
+ * Method:    setEquilibriumPoint
+ * Signature: (JI)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofSpringJoint_setEquilibriumPoint__JI
+  (JNIEnv *env, jobject object, jlong jointId, jint index) {
+    btGeneric6DofSpringConstraint* joint = reinterpret_cast<btGeneric6DofSpringConstraint*>(jointId);
+    joint -> setEquilibriumPoint(index);
+}
+
+
+
+
+/*
+ * Class:     com_jme3_bullet_joints_SixDofSpringJoint
+ * Method:    createJoint
+ * Signature: (JJLcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;Z)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_SixDofSpringJoint_createJoint
+    (JNIEnv * env, jobject object, jlong bodyIdA, jlong bodyIdB, jobject pivotA, jobject rotA, jobject pivotB, jobject rotB, jboolean useLinearReferenceFrameA) {
+        jmeClasses::initJavaClasses(env);
+        btRigidBody* bodyA = reinterpret_cast<btRigidBody*>(bodyIdA);
+        btRigidBody* bodyB = reinterpret_cast<btRigidBody*>(bodyIdB);
+
+        btTransform transA;
+        jmeBulletUtil::convert(env, pivotA, &transA.getOrigin());
+        jmeBulletUtil::convert(env, rotA, &transA.getBasis());
+        btTransform transB;
+        jmeBulletUtil::convert(env, pivotB, &transB.getOrigin());
+        jmeBulletUtil::convert(env, rotB, &transB.getBasis());
+
+        btGeneric6DofSpringConstraint* joint = new btGeneric6DofSpringConstraint(*bodyA, *bodyB, transA, transB, useLinearReferenceFrameA);
+        return reinterpret_cast<jlong>(joint);
+    }
+
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_SixDofSpringJoint.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_SixDofSpringJoint.h
new file mode 100644 (file)
index 0000000..b4fced0
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_SixDofSpringJoint.h
@@ -0,0 +1,61 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_joints_SixDofSpringJoint */
+
+#ifndef _Included_com_jme3_bullet_joints_SixDofSpringJoint
+#define _Included_com_jme3_bullet_joints_SixDofSpringJoint
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_jme3_bullet_joints_SixDofSpringJoint
+ * Method:    enableSpring
+ * Signature: (JIZ)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofSpringJoint_enableSpring
+  (JNIEnv *, jobject, jlong, jint, jboolean);
+
+/*
+ * Class:     com_jme3_bullet_joints_SixDofSpringJoint
+ * Method:    setStiffness
+ * Signature: (JIF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofSpringJoint_setStiffness
+  (JNIEnv *, jobject, jlong, jint, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SixDofSpringJoint
+ * Method:    setDamping
+ * Signature: (JIF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofSpringJoint_setDamping
+  (JNIEnv *, jobject, jlong, jint, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SixDofSpringJoint
+ * Method:    setEquilibriumPoint
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofSpringJoint_setEquilibriumPoint__J
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SixDofSpringJoint
+ * Method:    setEquilibriumPoint
+ * Signature: (JI)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofSpringJoint_setEquilibriumPoint__JI
+  (JNIEnv *, jobject, jlong, jint);
+
+/*
+ * Class:     com_jme3_bullet_joints_SixDofSpringJoint
+ * Method:    createJoint
+ * Signature: (JJLcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;Z)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_SixDofSpringJoint_createJoint
+  (JNIEnv *, jobject, jlong, jlong, jobject, jobject, jobject, jobject, jboolean);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_SliderJoint.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_SliderJoint.cpp
new file mode 100644 (file)
index 0000000..c6e704d
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_SliderJoint.cpp
@@ -0,0 +1,963 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+#include "com_jme3_bullet_joints_SliderJoint.h"
+#include "jmeBulletUtil.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    getLowerLinLimit
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getLowerLinLimit
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getLowerLinLimit();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setLowerLinLimit
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setLowerLinLimit
+    (JNIEnv * env, jobject object, jlong jointId, jfloat value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setLowerLinLimit(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    getUpperLinLimit
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getUpperLinLimit
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getUpperLinLimit();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setUpperLinLimit
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setUpperLinLimit
+    (JNIEnv * env, jobject object, jlong jointId, jfloat value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setUpperLinLimit(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    getLowerAngLimit
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getLowerAngLimit
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getLowerAngLimit();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setLowerAngLimit
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setLowerAngLimit
+    (JNIEnv * env, jobject object, jlong jointId, jfloat value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setLowerAngLimit(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    getUpperAngLimit
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getUpperAngLimit
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getUpperAngLimit();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setUpperAngLimit
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setUpperAngLimit
+    (JNIEnv * env, jobject object, jlong jointId, jfloat value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setUpperAngLimit(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    getSoftnessDirLin
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getSoftnessDirLin
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getSoftnessDirLin();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setSoftnessDirLin
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setSoftnessDirLin
+    (JNIEnv * env, jobject object, jlong jointId, jfloat value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setSoftnessDirLin(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    getRestitutionDirLin
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getRestitutionDirLin
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getRestitutionDirLin();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setRestitutionDirLin
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setRestitutionDirLin
+    (JNIEnv * env, jobject object, jlong jointId, jfloat value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setRestitutionDirLin(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    getDampingDirLin
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getDampingDirLin
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getDampingDirLin();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setDampingDirLin
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setDampingDirLin
+    (JNIEnv * env, jobject object, jlong jointId, jfloat value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setDampingDirLin(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    getSoftnessDirAng
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getSoftnessDirAng
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getSoftnessDirAng();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setSoftnessDirAng
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setSoftnessDirAng
+    (JNIEnv * env, jobject object, jlong jointId, jfloat value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setSoftnessDirAng(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    getRestitutionDirAng
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getRestitutionDirAng
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getRestitutionDirAng();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setRestitutionDirAng
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setRestitutionDirAng
+    (JNIEnv * env, jobject object, jlong jointId, jfloat value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setRestitutionDirAng(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    getDampingDirAng
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getDampingDirAng
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getDampingDirAng();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setDampingDirAng
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setDampingDirAng
+    (JNIEnv * env, jobject object, jlong jointId, jfloat value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setDampingDirAng(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    getSoftnessLimLin
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getSoftnessLimLin
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getSoftnessLimLin();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setSoftnessLimLin
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setSoftnessLimLin
+    (JNIEnv * env, jobject object, jlong jointId, jfloat value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setSoftnessLimLin(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    getRestitutionLimLin
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getRestitutionLimLin
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getRestitutionLimLin();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setRestitutionLimLin
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setRestitutionLimLin
+    (JNIEnv * env, jobject object, jlong jointId, jfloat value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setRestitutionLimLin(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    getDampingLimLin
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getDampingLimLin
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getDampingLimLin();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setDampingLimLin
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setDampingLimLin
+    (JNIEnv * env, jobject object, jlong jointId, jfloat value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setDampingLimLin(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    getSoftnessLimAng
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getSoftnessLimAng
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getSoftnessLimAng();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setSoftnessLimAng
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setSoftnessLimAng
+    (JNIEnv * env, jobject object, jlong jointId, jfloat value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setSoftnessLimAng(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    getRestitutionLimAng
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getRestitutionLimAng
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getRestitutionLimAng();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setRestitutionLimAng
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setRestitutionLimAng
+    (JNIEnv * env, jobject object, jlong jointId, jfloat value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setRestitutionLimAng(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    getDampingLimAng
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getDampingLimAng
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getDampingLimAng();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setDampingLimAng
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setDampingLimAng
+    (JNIEnv * env, jobject object, jlong jointId, jfloat value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setDampingLimAng(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    getSoftnessOrthoLin
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getSoftnessOrthoLin
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getSoftnessOrthoLin();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setSoftnessOrthoLin
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setSoftnessOrthoLin
+    (JNIEnv * env, jobject object, jlong jointId, jfloat value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setSoftnessOrthoLin(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    getRestitutionOrthoLin
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getRestitutionOrthoLin
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getRestitutionOrthoLin();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setRestitutionOrthoLin
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setRestitutionOrthoLin
+    (JNIEnv * env, jobject object, jlong jointId, jfloat value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setRestitutionOrthoLin(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    getDampingOrthoLin
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getDampingOrthoLin
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getDampingOrthoLin();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setDampingOrthoLin
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setDampingOrthoLin
+    (JNIEnv * env, jobject object, jlong jointId, jfloat value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setDampingOrthoLin(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    getSoftnessOrthoAng
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getSoftnessOrthoAng
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getSoftnessOrthoAng();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setSoftnessOrthoAng
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setSoftnessOrthoAng
+    (JNIEnv * env, jobject object, jlong jointId, jfloat value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setSoftnessOrthoAng(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    getRestitutionOrthoAng
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getRestitutionOrthoAng
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getRestitutionOrthoAng();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setRestitutionOrthoAng
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setRestitutionOrthoAng
+    (JNIEnv * env, jobject object, jlong jointId, jfloat value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setRestitutionOrthoAng(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    getDampingOrthoAng
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getDampingOrthoAng
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getDampingOrthoAng();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setDampingOrthoAng
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setDampingOrthoAng
+    (JNIEnv * env, jobject object, jlong jointId, jfloat value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setDampingOrthoAng(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    isPoweredLinMotor
+     * Signature: (J)Z
+     */
+    JNIEXPORT jboolean JNICALL Java_com_jme3_bullet_joints_SliderJoint_isPoweredLinMotor
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return false;
+        }
+        return joint->getPoweredLinMotor();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setPoweredLinMotor
+     * Signature: (JZ)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setPoweredLinMotor
+    (JNIEnv * env, jobject object, jlong jointId, jboolean value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setPoweredLinMotor(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    getTargetLinMotorVelocity
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getTargetLinMotorVelocity
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getTargetLinMotorVelocity();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setTargetLinMotorVelocity
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setTargetLinMotorVelocity
+    (JNIEnv * env, jobject object, jlong jointId, jfloat value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setTargetLinMotorVelocity(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    getMaxLinMotorForce
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getMaxLinMotorForce
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getMaxLinMotorForce();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setMaxLinMotorForce
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setMaxLinMotorForce
+    (JNIEnv * env, jobject object, jlong jointId, jfloat value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setMaxLinMotorForce(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    isPoweredAngMotor
+     * Signature: (J)Z
+     */
+    JNIEXPORT jboolean JNICALL Java_com_jme3_bullet_joints_SliderJoint_isPoweredAngMotor
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return false;
+        }
+        return joint->getPoweredAngMotor();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setPoweredAngMotor
+     * Signature: (JZ)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setPoweredAngMotor
+    (JNIEnv * env, jobject object, jlong jointId, jboolean value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setPoweredAngMotor(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    getTargetAngMotorVelocity
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getTargetAngMotorVelocity
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getTargetAngMotorVelocity();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setTargetAngMotorVelocity
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setTargetAngMotorVelocity
+    (JNIEnv * env, jobject object, jlong jointId, jfloat value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setTargetAngMotorVelocity(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    getMaxAngMotorForce
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getMaxAngMotorForce
+    (JNIEnv * env, jobject object, jlong jointId) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return joint->getMaxAngMotorForce();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    setMaxAngMotorForce
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setMaxAngMotorForce
+    (JNIEnv * env, jobject object, jlong jointId, jfloat value) {
+        btSliderConstraint* joint = reinterpret_cast<btSliderConstraint*>(jointId);
+        if (joint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        joint->setMaxAngMotorForce(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SliderJoint
+     * Method:    createJoint
+     * Signature: (JJLcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;Z)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_SliderJoint_createJoint
+    (JNIEnv * env, jobject object, jlong bodyIdA, jlong bodyIdB, jobject pivotA, jobject rotA, jobject pivotB, jobject rotB, jboolean useLinearReferenceFrameA) {
+        jmeClasses::initJavaClasses(env);
+        btRigidBody* bodyA = reinterpret_cast<btRigidBody*>(bodyIdA);
+        btRigidBody* bodyB = reinterpret_cast<btRigidBody*>(bodyIdB);
+        btMatrix3x3 mtx1 = btMatrix3x3();
+        btMatrix3x3 mtx2 = btMatrix3x3();
+        btTransform transA = btTransform(mtx1);
+        jmeBulletUtil::convert(env, pivotA, &transA.getOrigin());
+        jmeBulletUtil::convert(env, rotA, &transA.getBasis());
+        btTransform transB = btTransform(mtx2);
+        jmeBulletUtil::convert(env, pivotB, &transB.getOrigin());
+        jmeBulletUtil::convert(env, rotB, &transB.getBasis());
+        btSliderConstraint* joint = new btSliderConstraint(*bodyA, *bodyB, transA, transB, useLinearReferenceFrameA);
+        return reinterpret_cast<jlong>(joint);
+    }
+
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_SliderJoint.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_SliderJoint.h
new file mode 100644 (file)
index 0000000..7afd66a
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_SliderJoint.h
@@ -0,0 +1,469 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_joints_SliderJoint */
+
+#ifndef _Included_com_jme3_bullet_joints_SliderJoint
+#define _Included_com_jme3_bullet_joints_SliderJoint
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    getLowerLinLimit
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getLowerLinLimit
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setLowerLinLimit
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setLowerLinLimit
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    getUpperLinLimit
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getUpperLinLimit
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setUpperLinLimit
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setUpperLinLimit
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    getLowerAngLimit
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getLowerAngLimit
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setLowerAngLimit
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setLowerAngLimit
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    getUpperAngLimit
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getUpperAngLimit
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setUpperAngLimit
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setUpperAngLimit
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    getSoftnessDirLin
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getSoftnessDirLin
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setSoftnessDirLin
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setSoftnessDirLin
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    getRestitutionDirLin
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getRestitutionDirLin
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setRestitutionDirLin
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setRestitutionDirLin
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    getDampingDirLin
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getDampingDirLin
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setDampingDirLin
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setDampingDirLin
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    getSoftnessDirAng
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getSoftnessDirAng
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setSoftnessDirAng
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setSoftnessDirAng
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    getRestitutionDirAng
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getRestitutionDirAng
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setRestitutionDirAng
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setRestitutionDirAng
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    getDampingDirAng
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getDampingDirAng
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setDampingDirAng
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setDampingDirAng
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    getSoftnessLimLin
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getSoftnessLimLin
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setSoftnessLimLin
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setSoftnessLimLin
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    getRestitutionLimLin
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getRestitutionLimLin
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setRestitutionLimLin
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setRestitutionLimLin
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    getDampingLimLin
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getDampingLimLin
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setDampingLimLin
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setDampingLimLin
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    getSoftnessLimAng
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getSoftnessLimAng
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setSoftnessLimAng
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setSoftnessLimAng
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    getRestitutionLimAng
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getRestitutionLimAng
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setRestitutionLimAng
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setRestitutionLimAng
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    getDampingLimAng
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getDampingLimAng
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setDampingLimAng
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setDampingLimAng
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    getSoftnessOrthoLin
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getSoftnessOrthoLin
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setSoftnessOrthoLin
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setSoftnessOrthoLin
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    getRestitutionOrthoLin
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getRestitutionOrthoLin
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setRestitutionOrthoLin
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setRestitutionOrthoLin
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    getDampingOrthoLin
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getDampingOrthoLin
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setDampingOrthoLin
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setDampingOrthoLin
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    getSoftnessOrthoAng
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getSoftnessOrthoAng
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setSoftnessOrthoAng
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setSoftnessOrthoAng
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    getRestitutionOrthoAng
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getRestitutionOrthoAng
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setRestitutionOrthoAng
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setRestitutionOrthoAng
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    getDampingOrthoAng
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getDampingOrthoAng
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setDampingOrthoAng
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setDampingOrthoAng
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    isPoweredLinMotor
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean JNICALL Java_com_jme3_bullet_joints_SliderJoint_isPoweredLinMotor
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setPoweredLinMotor
+ * Signature: (JZ)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setPoweredLinMotor
+  (JNIEnv *, jobject, jlong, jboolean);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    getTargetLinMotorVelocity
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getTargetLinMotorVelocity
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setTargetLinMotorVelocity
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setTargetLinMotorVelocity
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    getMaxLinMotorForce
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getMaxLinMotorForce
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setMaxLinMotorForce
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setMaxLinMotorForce
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    isPoweredAngMotor
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean JNICALL Java_com_jme3_bullet_joints_SliderJoint_isPoweredAngMotor
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setPoweredAngMotor
+ * Signature: (JZ)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setPoweredAngMotor
+  (JNIEnv *, jobject, jlong, jboolean);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    getTargetAngMotorVelocity
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getTargetAngMotorVelocity
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setTargetAngMotorVelocity
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setTargetAngMotorVelocity
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    getMaxAngMotorForce
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_SliderJoint_getMaxAngMotorForce
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    setMaxAngMotorForce
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SliderJoint_setMaxAngMotorForce
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_SliderJoint
+ * Method:    createJoint
+ * Signature: (JJLcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;Z)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_SliderJoint_createJoint
+  (JNIEnv *, jobject, jlong, jlong, jobject, jobject, jobject, jobject, jboolean);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_motors_RotationalLimitMotor.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_motors_RotationalLimitMotor.cpp
new file mode 100644 (file)
index 0000000..e9da298
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_motors_RotationalLimitMotor.cpp
@@ -0,0 +1,365 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+#include "com_jme3_bullet_joints_motors_RotationalLimitMotor.h"
+#include "jmeBulletUtil.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+     * Method:    getLoLimit
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_getLoLimit
+    (JNIEnv *env, jobject object, jlong motorId) {
+        btRotationalLimitMotor* motor = reinterpret_cast<btRotationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return motor->m_loLimit;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+     * Method:    setLoLimit
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_setLoLimit
+    (JNIEnv *env, jobject object, jlong motorId, jfloat value) {
+        btRotationalLimitMotor* motor = reinterpret_cast<btRotationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        motor->m_loLimit = value;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+     * Method:    getHiLimit
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_getHiLimit
+    (JNIEnv *env, jobject object, jlong motorId) {
+        btRotationalLimitMotor* motor = reinterpret_cast<btRotationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return motor->m_hiLimit;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+     * Method:    setHiLimit
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_setHiLimit
+    (JNIEnv *env, jobject object, jlong motorId, jfloat value) {
+        btRotationalLimitMotor* motor = reinterpret_cast<btRotationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        motor->m_hiLimit = value;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+     * Method:    getTargetVelocity
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_getTargetVelocity
+    (JNIEnv *env, jobject object, jlong motorId) {
+        btRotationalLimitMotor* motor = reinterpret_cast<btRotationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return motor->m_targetVelocity;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+     * Method:    setTargetVelocity
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_setTargetVelocity
+    (JNIEnv *env, jobject object, jlong motorId, jfloat value) {
+        btRotationalLimitMotor* motor = reinterpret_cast<btRotationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        motor->m_targetVelocity = value;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+     * Method:    getMaxMotorForce
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_getMaxMotorForce
+    (JNIEnv *env, jobject object, jlong motorId) {
+        btRotationalLimitMotor* motor = reinterpret_cast<btRotationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return motor->m_maxMotorForce;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+     * Method:    setMaxMotorForce
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_setMaxMotorForce
+    (JNIEnv *env, jobject object, jlong motorId, jfloat value) {
+        btRotationalLimitMotor* motor = reinterpret_cast<btRotationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        motor->m_maxMotorForce = value;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+     * Method:    getMaxLimitForce
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_getMaxLimitForce
+    (JNIEnv *env, jobject object, jlong motorId) {
+        btRotationalLimitMotor* motor = reinterpret_cast<btRotationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return motor->m_maxLimitForce;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+     * Method:    setMaxLimitForce
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_setMaxLimitForce
+    (JNIEnv *env, jobject object, jlong motorId, jfloat value) {
+        btRotationalLimitMotor* motor = reinterpret_cast<btRotationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        motor->m_maxLimitForce = value;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+     * Method:    getDamping
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_getDamping
+    (JNIEnv *env, jobject object, jlong motorId) {
+        btRotationalLimitMotor* motor = reinterpret_cast<btRotationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return motor->m_damping;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+     * Method:    setDamping
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_setDamping
+    (JNIEnv *env, jobject object, jlong motorId, jfloat value) {
+        btRotationalLimitMotor* motor = reinterpret_cast<btRotationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        motor->m_damping = value;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+     * Method:    getLimitSoftness
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_getLimitSoftness
+    (JNIEnv *env, jobject object, jlong motorId) {
+        btRotationalLimitMotor* motor = reinterpret_cast<btRotationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return motor->m_limitSoftness;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+     * Method:    setLimitSoftness
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_setLimitSoftness
+    (JNIEnv *env, jobject object, jlong motorId, jfloat value) {
+        btRotationalLimitMotor* motor = reinterpret_cast<btRotationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        motor->m_limitSoftness = value;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+     * Method:    getERP
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_getERP
+    (JNIEnv *env, jobject object, jlong motorId) {
+        btRotationalLimitMotor* motor = reinterpret_cast<btRotationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return motor->m_stopERP;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+     * Method:    setERP
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_setERP
+    (JNIEnv *env, jobject object, jlong motorId, jfloat value) {
+        btRotationalLimitMotor* motor = reinterpret_cast<btRotationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        motor->m_stopERP = value;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+     * Method:    getBounce
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_getBounce
+    (JNIEnv *env, jobject object, jlong motorId) {
+        btRotationalLimitMotor* motor = reinterpret_cast<btRotationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return motor->m_bounce;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+     * Method:    setBounce
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_setBounce
+    (JNIEnv *env, jobject object, jlong motorId, jfloat value) {
+        btRotationalLimitMotor* motor = reinterpret_cast<btRotationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        motor->m_bounce = value;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+     * Method:    isEnableMotor
+     * Signature: (J)Z
+     */
+    JNIEXPORT jboolean JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_isEnableMotor
+    (JNIEnv *env, jobject object, jlong motorId) {
+        btRotationalLimitMotor* motor = reinterpret_cast<btRotationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return false;
+        }
+        return motor->m_enableMotor;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+     * Method:    setEnableMotor
+     * Signature: (JZ)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_setEnableMotor
+    (JNIEnv *env, jobject object, jlong motorId, jboolean value) {
+        btRotationalLimitMotor* motor = reinterpret_cast<btRotationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        motor->m_enableMotor = value;
+    }
+
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_motors_RotationalLimitMotor.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_motors_RotationalLimitMotor.h
new file mode 100644 (file)
index 0000000..b14bf1d
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_motors_RotationalLimitMotor.h
@@ -0,0 +1,173 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_joints_motors_RotationalLimitMotor */
+
+#ifndef _Included_com_jme3_bullet_joints_motors_RotationalLimitMotor
+#define _Included_com_jme3_bullet_joints_motors_RotationalLimitMotor
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+ * Method:    getLoLimit
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_getLoLimit
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+ * Method:    setLoLimit
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_setLoLimit
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+ * Method:    getHiLimit
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_getHiLimit
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+ * Method:    setHiLimit
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_setHiLimit
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+ * Method:    getTargetVelocity
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_getTargetVelocity
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+ * Method:    setTargetVelocity
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_setTargetVelocity
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+ * Method:    getMaxMotorForce
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_getMaxMotorForce
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+ * Method:    setMaxMotorForce
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_setMaxMotorForce
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+ * Method:    getMaxLimitForce
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_getMaxLimitForce
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+ * Method:    setMaxLimitForce
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_setMaxLimitForce
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+ * Method:    getDamping
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_getDamping
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+ * Method:    setDamping
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_setDamping
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+ * Method:    getLimitSoftness
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_getLimitSoftness
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+ * Method:    setLimitSoftness
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_setLimitSoftness
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+ * Method:    getERP
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_getERP
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+ * Method:    setERP
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_setERP
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+ * Method:    getBounce
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_getBounce
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+ * Method:    setBounce
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_setBounce
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+ * Method:    isEnableMotor
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_isEnableMotor
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_RotationalLimitMotor
+ * Method:    setEnableMotor
+ * Signature: (JZ)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_RotationalLimitMotor_setEnableMotor
+  (JNIEnv *, jobject, jlong, jboolean);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_motors_TranslationalLimitMotor.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_motors_TranslationalLimitMotor.cpp
new file mode 100644 (file)
index 0000000..64f0de0
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_motors_TranslationalLimitMotor.cpp
@@ -0,0 +1,237 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+#include "com_jme3_bullet_joints_motors_TranslationalLimitMotor.h"
+#include "jmeBulletUtil.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_TranslationalLimitMotor
+     * Method:    getLowerLimit
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_TranslationalLimitMotor_getLowerLimit
+    (JNIEnv *env, jobject object, jlong motorId, jobject vector) {
+        btTranslationalLimitMotor* motor = reinterpret_cast<btTranslationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeBulletUtil::convert(env, &motor->m_lowerLimit, vector);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_TranslationalLimitMotor
+     * Method:    setLowerLimit
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_TranslationalLimitMotor_setLowerLimit
+    (JNIEnv *env, jobject object, jlong motorId, jobject vector) {
+        btTranslationalLimitMotor* motor = reinterpret_cast<btTranslationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeBulletUtil::convert(env, vector, &motor->m_lowerLimit);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_TranslationalLimitMotor
+     * Method:    getUpperLimit
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_TranslationalLimitMotor_getUpperLimit
+    (JNIEnv *env, jobject object, jlong motorId, jobject vector) {
+        btTranslationalLimitMotor* motor = reinterpret_cast<btTranslationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeBulletUtil::convert(env, &motor->m_upperLimit, vector);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_TranslationalLimitMotor
+     * Method:    setUpperLimit
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_TranslationalLimitMotor_setUpperLimit
+    (JNIEnv *env, jobject object, jlong motorId, jobject vector) {
+        btTranslationalLimitMotor* motor = reinterpret_cast<btTranslationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeBulletUtil::convert(env, vector, &motor->m_upperLimit);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_TranslationalLimitMotor
+     * Method:    getAccumulatedImpulse
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_TranslationalLimitMotor_getAccumulatedImpulse
+    (JNIEnv *env, jobject object, jlong motorId, jobject vector) {
+        btTranslationalLimitMotor* motor = reinterpret_cast<btTranslationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeBulletUtil::convert(env, &motor->m_accumulatedImpulse, vector);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_TranslationalLimitMotor
+     * Method:    setAccumulatedImpulse
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_TranslationalLimitMotor_setAccumulatedImpulse
+    (JNIEnv *env, jobject object, jlong motorId, jobject vector) {
+        btTranslationalLimitMotor* motor = reinterpret_cast<btTranslationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeBulletUtil::convert(env, vector, &motor->m_accumulatedImpulse);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_TranslationalLimitMotor
+     * Method:    getLimitSoftness
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_motors_TranslationalLimitMotor_getLetLimitSoftness
+    (JNIEnv *env, jobject object, jlong motorId) {
+        btTranslationalLimitMotor* motor = reinterpret_cast<btTranslationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return motor->m_limitSoftness;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_TranslationalLimitMotor
+     * Method:    setLimitSoftness
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_TranslationalLimitMotor_setLimitSoftness
+    (JNIEnv *env, jobject object, jlong motorId, jfloat value) {
+        btTranslationalLimitMotor* motor = reinterpret_cast<btTranslationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        motor->m_limitSoftness = value;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_TranslationalLimitMotor
+     * Method:    getDamping
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_motors_TranslationalLimitMotor_getDamping
+    (JNIEnv *env, jobject object, jlong motorId) {
+        btTranslationalLimitMotor* motor = reinterpret_cast<btTranslationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return motor->m_damping;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_TranslationalLimitMotor
+     * Method:    setDamping
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_TranslationalLimitMotor_setDamping
+    (JNIEnv *env, jobject object, jlong motorId, jfloat value) {
+        btTranslationalLimitMotor* motor = reinterpret_cast<btTranslationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        motor->m_damping = value;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_TranslationalLimitMotor
+     * Method:    getRestitution
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_motors_TranslationalLimitMotor_getRestitution
+    (JNIEnv *env, jobject object, jlong motorId) {
+        btTranslationalLimitMotor* motor = reinterpret_cast<btTranslationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return motor->m_restitution;
+    }
+
+    /*
+     * Class:     com_jme3_bullet_joints_motors_TranslationalLimitMotor
+     * Method:    setRestitution
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_TranslationalLimitMotor_setRestitution
+    (JNIEnv *env, jobject object, jlong motorId, jfloat value) {
+        btTranslationalLimitMotor* motor = reinterpret_cast<btTranslationalLimitMotor*>(motorId);
+        if (motor == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        motor->m_restitution = value;
+    }
+
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_motors_TranslationalLimitMotor.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_motors_TranslationalLimitMotor.h
new file mode 100644 (file)
index 0000000..0ea93e2
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_joints_motors_TranslationalLimitMotor.h
@@ -0,0 +1,109 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_joints_motors_TranslationalLimitMotor */
+
+#ifndef _Included_com_jme3_bullet_joints_motors_TranslationalLimitMotor
+#define _Included_com_jme3_bullet_joints_motors_TranslationalLimitMotor
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_jme3_bullet_joints_motors_TranslationalLimitMotor
+ * Method:    getLowerLimit
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_TranslationalLimitMotor_getLowerLimit
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_TranslationalLimitMotor
+ * Method:    setLowerLimit
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_TranslationalLimitMotor_setLowerLimit
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_TranslationalLimitMotor
+ * Method:    getUpperLimit
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_TranslationalLimitMotor_getUpperLimit
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_TranslationalLimitMotor
+ * Method:    setUpperLimit
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_TranslationalLimitMotor_setUpperLimit
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_TranslationalLimitMotor
+ * Method:    getAccumulatedImpulse
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_TranslationalLimitMotor_getAccumulatedImpulse
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_TranslationalLimitMotor
+ * Method:    setAccumulatedImpulse
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_TranslationalLimitMotor_setAccumulatedImpulse
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_TranslationalLimitMotor
+ * Method:    getLimitSoftness
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_motors_TranslationalLimitMotor_getLimitSoftness
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_TranslationalLimitMotor
+ * Method:    setLimitSoftness
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_TranslationalLimitMotor_setLimitSoftness
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_TranslationalLimitMotor
+ * Method:    getDamping
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_motors_TranslationalLimitMotor_getDamping
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_TranslationalLimitMotor
+ * Method:    setDamping
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_TranslationalLimitMotor_setDamping
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_TranslationalLimitMotor
+ * Method:    getRestitution
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_motors_TranslationalLimitMotor_getRestitution
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_joints_motors_TranslationalLimitMotor
+ * Method:    setRestitution
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_motors_TranslationalLimitMotor_setRestitution
+  (JNIEnv *, jobject, jlong, jfloat);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_PhysicsCharacter.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_PhysicsCharacter.cpp
new file mode 100644 (file)
index 0000000..f64cc3a
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_PhysicsCharacter.cpp
@@ -0,0 +1,388 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+
+#include "com_jme3_bullet_objects_PhysicsCharacter.h"
+#include "jmeBulletUtil.h"
+#include "BulletCollision/CollisionDispatch/btGhostObject.h"
+#include "BulletDynamics/Character/btKinematicCharacterController.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    createGhostObject
+     * Signature: ()J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_createGhostObject
+    (JNIEnv * env, jobject object) {
+        jmeClasses::initJavaClasses(env);
+        btPairCachingGhostObject* ghost = new btPairCachingGhostObject();
+        return reinterpret_cast<jlong>(ghost);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    setCharacterFlags
+     * Signature: (J)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setCharacterFlags
+    (JNIEnv *env, jobject object, jlong ghostId) {
+        btPairCachingGhostObject* ghost = reinterpret_cast<btPairCachingGhostObject*>(ghostId);
+        if (ghost == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        ghost->setCollisionFlags(/*ghost->getCollisionFlags() |*/ btCollisionObject::CF_CHARACTER_OBJECT);
+        ghost->setCollisionFlags(ghost->getCollisionFlags() & ~btCollisionObject::CF_NO_CONTACT_RESPONSE);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    createCharacterObject
+     * Signature: (JJF)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_createCharacterObject
+    (JNIEnv *env, jobject object, jlong objectId, jlong shapeId, jfloat stepHeight) {
+        btPairCachingGhostObject* ghost = reinterpret_cast<btPairCachingGhostObject*>(objectId);
+        if (ghost == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        //TODO: check convexshape!
+        btConvexShape* shape = reinterpret_cast<btConvexShape*>(shapeId);
+        btKinematicCharacterController* character = new btKinematicCharacterController(ghost, shape, stepHeight);
+        return reinterpret_cast<jlong>(character);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    warp
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_warp
+    (JNIEnv *env, jobject object, jlong objectId, jobject vector) {
+        btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
+        if (character == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        btVector3 vec = btVector3();
+        jmeBulletUtil::convert(env, vector, &vec);
+        character->warp(vec);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    setWalkDirection
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setWalkDirection
+    (JNIEnv *env, jobject object, jlong objectId, jobject vector) {
+        btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
+        if (character == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        btVector3 vec = btVector3();
+        jmeBulletUtil::convert(env, vector, &vec);
+        character->setWalkDirection(vec);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    setUpAxis
+     * Signature: (JI)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setUpAxis
+    (JNIEnv *env, jobject object, jlong objectId, jint value) {
+        btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
+        if (character == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        character->setUpAxis(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    setFallSpeed
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setFallSpeed
+    (JNIEnv *env, jobject object, jlong objectId, jfloat value) {
+        btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
+        if (character == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        character->setFallSpeed(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    setJumpSpeed
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setJumpSpeed
+    (JNIEnv *env, jobject object, jlong objectId, jfloat value) {
+        btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
+        if (character == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        character->setJumpSpeed(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    setGravity
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setGravity
+    (JNIEnv *env, jobject object, jlong objectId, jfloat value) {
+        btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
+        if (character == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        character->setGravity(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    getGravity
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getGravity
+    (JNIEnv *env, jobject object, jlong objectId) {
+        btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
+        if (character == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return character->getGravity();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    setMaxSlope
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setMaxSlope
+    (JNIEnv *env, jobject object, jlong objectId, jfloat value) {
+        btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
+        if (character == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        character->setMaxSlope(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    getMaxSlope
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getMaxSlope
+    (JNIEnv *env, jobject object, jlong objectId) {
+        btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
+        if (character == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return character->getMaxSlope();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    onGround
+     * Signature: (J)Z
+     */
+    JNIEXPORT jboolean JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_onGround
+    (JNIEnv *env, jobject object, jlong objectId) {
+        btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
+        if (character == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return false;
+        }
+        return character->onGround();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    jump
+     * Signature: (J)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_jump
+    (JNIEnv *env, jobject object, jlong objectId) {
+        btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
+        if (character == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        character->jump();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    getPhysicsLocation
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getPhysicsLocation
+    (JNIEnv *env, jobject object, jlong objectId, jobject value) {
+        btGhostObject* ghost = reinterpret_cast<btGhostObject*>(objectId);
+        if (ghost == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeBulletUtil::convert(env, &ghost->getWorldTransform().getOrigin(), value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    setCcdSweptSphereRadius
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setCcdSweptSphereRadius
+    (JNIEnv *env, jobject object, jlong objectId, jfloat value) {
+        btGhostObject* ghost = reinterpret_cast<btGhostObject*>(objectId);
+        if (ghost == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        ghost->setCcdSweptSphereRadius(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    setCcdMotionThreshold
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setCcdMotionThreshold
+    (JNIEnv *env, jobject object, jlong objectId, jfloat value) {
+        btGhostObject* ghost = reinterpret_cast<btGhostObject*>(objectId);
+        if (ghost == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        ghost->setCcdMotionThreshold(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    getCcdSweptSphereRadius
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getCcdSweptSphereRadius
+    (JNIEnv *env, jobject object, jlong objectId) {
+        btGhostObject* ghost = reinterpret_cast<btGhostObject*>(objectId);
+        if (ghost == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return ghost->getCcdSweptSphereRadius();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    getCcdMotionThreshold
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getCcdMotionThreshold
+    (JNIEnv *env, jobject object, jlong objectId) {
+        btGhostObject* ghost = reinterpret_cast<btGhostObject*>(objectId);
+        if (ghost == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return ghost->getCcdMotionThreshold();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    getCcdSquareMotionThreshold
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getCcdSquareMotionThreshold
+    (JNIEnv *env, jobject object, jlong objectId) {
+        btGhostObject* ghost = reinterpret_cast<btGhostObject*>(objectId);
+        if (ghost == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return ghost->getCcdSquareMotionThreshold();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    finalizeNativeCharacter
+     * Signature: (J)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_finalizeNativeCharacter
+    (JNIEnv *env, jobject object, jlong objectId) {
+        btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
+        if (character == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        delete(character);
+    }
+
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_PhysicsCharacter.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_PhysicsCharacter.h
new file mode 100644 (file)
index 0000000..210198c
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_PhysicsCharacter.h
@@ -0,0 +1,215 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_objects_PhysicsCharacter */
+
+#ifndef _Included_com_jme3_bullet_objects_PhysicsCharacter
+#define _Included_com_jme3_bullet_objects_PhysicsCharacter
+#ifdef __cplusplus
+extern "C" {
+#endif
+#undef com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_NONE
+#define com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_NONE 0L
+#undef com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_01
+#define com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_01 1L
+#undef com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_02
+#define com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_02 2L
+#undef com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_03
+#define com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_03 4L
+#undef com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_04
+#define com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_04 8L
+#undef com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_05
+#define com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_05 16L
+#undef com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_06
+#define com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_06 32L
+#undef com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_07
+#define com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_07 64L
+#undef com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_08
+#define com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_08 128L
+#undef com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_09
+#define com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_09 256L
+#undef com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_10
+#define com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_10 512L
+#undef com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_11
+#define com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_11 1024L
+#undef com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_12
+#define com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_12 2048L
+#undef com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_13
+#define com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_13 4096L
+#undef com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_14
+#define com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_14 8192L
+#undef com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_15
+#define com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_15 16384L
+#undef com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_16
+#define com_jme3_bullet_objects_PhysicsCharacter_COLLISION_GROUP_16 32768L
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsCharacter
+ * Method:    createGhostObject
+ * Signature: ()J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_createGhostObject
+  (JNIEnv *, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsCharacter
+ * Method:    setCharacterFlags
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setCharacterFlags
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsCharacter
+ * Method:    createCharacterObject
+ * Signature: (JJF)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_createCharacterObject
+  (JNIEnv *, jobject, jlong, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsCharacter
+ * Method:    warp
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_warp
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsCharacter
+ * Method:    setWalkDirection
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setWalkDirection
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsCharacter
+ * Method:    setUpAxis
+ * Signature: (JI)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setUpAxis
+  (JNIEnv *, jobject, jlong, jint);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsCharacter
+ * Method:    setFallSpeed
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setFallSpeed
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsCharacter
+ * Method:    setJumpSpeed
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setJumpSpeed
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsCharacter
+ * Method:    setGravity
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setGravity
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsCharacter
+ * Method:    getGravity
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getGravity
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsCharacter
+ * Method:    setMaxSlope
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setMaxSlope
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsCharacter
+ * Method:    getMaxSlope
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getMaxSlope
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsCharacter
+ * Method:    onGround
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_onGround
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsCharacter
+ * Method:    jump
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_jump
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsCharacter
+ * Method:    getPhysicsLocation
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getPhysicsLocation
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsCharacter
+ * Method:    setCcdSweptSphereRadius
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setCcdSweptSphereRadius
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsCharacter
+ * Method:    setCcdMotionThreshold
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setCcdMotionThreshold
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsCharacter
+ * Method:    getCcdSweptSphereRadius
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getCcdSweptSphereRadius
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsCharacter
+ * Method:    getCcdMotionThreshold
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getCcdMotionThreshold
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsCharacter
+ * Method:    getCcdSquareMotionThreshold
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getCcdSquareMotionThreshold
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsCharacter
+ * Method:    finalizeNativeCharacter
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_finalizeNativeCharacter
+  (JNIEnv *, jobject, jlong);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_PhysicsGhostObject.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_PhysicsGhostObject.cpp
new file mode 100644 (file)
index 0000000..de74c2e
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_PhysicsGhostObject.cpp
@@ -0,0 +1,313 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+
+#include <BulletCollision/CollisionDispatch/btGhostObject.h>
+
+#include "com_jme3_bullet_objects_PhysicsGhostObject.h"
+#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
+#include "jmeBulletUtil.h"
+#include "jmePhysicsSpace.h"
+#include "jmeUserPointer.h"
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+     * Method:    createGhostObject
+     * Signature: ()J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_createGhostObject
+    (JNIEnv * env, jobject object) {
+        jmeClasses::initJavaClasses(env);
+        btPairCachingGhostObject* ghost = new btPairCachingGhostObject();
+        return reinterpret_cast<jlong>(ghost);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+     * Method:    setGhostFlags
+     * Signature: (J)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_setGhostFlags
+    (JNIEnv *env, jobject object, jlong objectId) {
+        btPairCachingGhostObject* ghost = reinterpret_cast<btPairCachingGhostObject*>(objectId);
+        if (ghost == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        ghost->setCollisionFlags(ghost->getCollisionFlags() | btCollisionObject::CF_NO_CONTACT_RESPONSE);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+     * Method:    setPhysicsLocation
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_setPhysicsLocation
+    (JNIEnv *env, jobject object, jlong objectId, jobject value) {
+        btPairCachingGhostObject* ghost = reinterpret_cast<btPairCachingGhostObject*>(objectId);
+        if (ghost == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeBulletUtil::convert(env, value, &ghost->getWorldTransform().getOrigin());
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+     * Method:    setPhysicsRotation
+     * Signature: (JLcom/jme3/math/Matrix3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_setPhysicsRotation__JLcom_jme3_math_Matrix3f_2
+    (JNIEnv *env, jobject object, jlong objectId, jobject value) {
+        btPairCachingGhostObject* ghost = reinterpret_cast<btPairCachingGhostObject*>(objectId);
+        if (ghost == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeBulletUtil::convert(env, value, &ghost->getWorldTransform().getBasis());
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+     * Method:    setPhysicsRotation
+     * Signature: (JLcom/jme3/math/Quaternion;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_setPhysicsRotation__JLcom_jme3_math_Quaternion_2
+    (JNIEnv *env, jobject object, jlong objectId, jobject value) {
+        btPairCachingGhostObject* ghost = reinterpret_cast<btPairCachingGhostObject*>(objectId);
+        if (ghost == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeBulletUtil::convertQuat(env, value, &ghost->getWorldTransform().getBasis());
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+     * Method:    getPhysicsLocation
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_getPhysicsLocation
+    (JNIEnv *env, jobject object, jlong objectId, jobject value) {
+        btPairCachingGhostObject* ghost = reinterpret_cast<btPairCachingGhostObject*>(objectId);
+        if (ghost == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeBulletUtil::convert(env, &ghost->getWorldTransform().getOrigin(), value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+     * Method:    getPhysicsRotation
+     * Signature: (JLcom/jme3/math/Quaternion;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_getPhysicsRotation
+    (JNIEnv *env, jobject object, jlong objectId, jobject value) {
+        btPairCachingGhostObject* ghost = reinterpret_cast<btPairCachingGhostObject*>(objectId);
+        if (ghost == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeBulletUtil::convertQuat(env, &ghost->getWorldTransform().getBasis(), value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+     * Method:    getPhysicsRotationMatrix
+     * Signature: (JLcom/jme3/math/Matrix3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_getPhysicsRotationMatrix
+    (JNIEnv *env, jobject object, jlong objectId, jobject value) {
+        btPairCachingGhostObject* ghost = reinterpret_cast<btPairCachingGhostObject*>(objectId);
+        if (ghost == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeBulletUtil::convert(env, &ghost->getWorldTransform().getBasis(), value);
+    }
+    
+    class jmeGhostOverlapCallback : public btOverlapCallback {
+        JNIEnv* m_env;
+        jobject m_object;
+    public:
+        jmeGhostOverlapCallback(JNIEnv *env, jobject object)
+                :m_env(env),
+                 m_object(object)
+        {
+        }
+        virtual ~jmeGhostOverlapCallback() {}
+        virtual bool    processOverlap(btBroadphasePair& pair)
+        {
+            btCollisionObject *co1 = (btCollisionObject *)pair.m_pProxy0->m_clientObject;
+            jmeUserPointer *up1 = (jmeUserPointer*)co1 -> getUserPointer();
+            jobject javaCollisionObject1 = m_env->NewLocalRef(up1->javaCollisionObject);
+            m_env->CallVoidMethod(m_object, jmeClasses::PhysicsGhostObject_addOverlappingObject, javaCollisionObject1);
+            m_env->DeleteLocalRef(javaCollisionObject1);
+            if (m_env->ExceptionCheck()) {
+                m_env->Throw(m_env->ExceptionOccurred());
+                return false;
+            }
+            
+            return false;
+        }
+    };
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+     * Method:    getOverlappingObjects
+     * Signature: (J)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_getOverlappingObjects
+      (JNIEnv *env, jobject object, jlong objectId) {
+        btPairCachingGhostObject* ghost = reinterpret_cast<btPairCachingGhostObject*>(objectId);
+        if (ghost == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        btHashedOverlappingPairCache * pc = ghost->getOverlappingPairCache();
+        jmeGhostOverlapCallback cb(env, object);
+        pc -> processAllOverlappingPairs(&cb, NULL);
+    }
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+     * Method:    getOverlappingCount
+     * Signature: (J)I
+     */
+    JNIEXPORT jint JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_getOverlappingCount
+    (JNIEnv *env, jobject object, jlong objectId) {
+        btPairCachingGhostObject* ghost = reinterpret_cast<btPairCachingGhostObject*>(objectId);
+        if (ghost == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return ghost->getNumOverlappingObjects();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+     * Method:    setCcdSweptSphereRadius
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_setCcdSweptSphereRadius
+    (JNIEnv *env, jobject object, jlong objectId, jfloat value) {
+        btPairCachingGhostObject* ghost = reinterpret_cast<btPairCachingGhostObject*>(objectId);
+        if (ghost == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        ghost->setCcdSweptSphereRadius(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+     * Method:    setCcdMotionThreshold
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_setCcdMotionThreshold
+    (JNIEnv *env, jobject object, jlong objectId, jfloat value) {
+        btPairCachingGhostObject* ghost = reinterpret_cast<btPairCachingGhostObject*>(objectId);
+        if (ghost == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        ghost->setCcdMotionThreshold(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+     * Method:    getCcdSweptSphereRadius
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_getCcdSweptSphereRadius
+    (JNIEnv *env, jobject object, jlong objectId) {
+        btPairCachingGhostObject* ghost = reinterpret_cast<btPairCachingGhostObject*>(objectId);
+        if (ghost == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return ghost->getCcdSweptSphereRadius();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+     * Method:    getCcdMotionThreshold
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_getCcdMotionThreshold
+    (JNIEnv *env, jobject object, jlong objectId) {
+        btPairCachingGhostObject* ghost = reinterpret_cast<btPairCachingGhostObject*>(objectId);
+        if (ghost == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return ghost->getCcdMotionThreshold();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+     * Method:    getCcdSquareMotionThreshold
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_getCcdSquareMotionThreshold
+    (JNIEnv *env, jobject object, jlong objectId) {
+        btPairCachingGhostObject* ghost = reinterpret_cast<btPairCachingGhostObject*>(objectId);
+        if (ghost == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return ghost->getCcdSquareMotionThreshold();
+    }
+
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_PhysicsGhostObject.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_PhysicsGhostObject.h
new file mode 100644 (file)
index 0000000..cf98e59
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_PhysicsGhostObject.h
@@ -0,0 +1,167 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_objects_PhysicsGhostObject */
+
+#ifndef _Included_com_jme3_bullet_objects_PhysicsGhostObject
+#define _Included_com_jme3_bullet_objects_PhysicsGhostObject
+#ifdef __cplusplus
+extern "C" {
+#endif
+#undef com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_NONE
+#define com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_NONE 0L
+#undef com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_01
+#define com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_01 1L
+#undef com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_02
+#define com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_02 2L
+#undef com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_03
+#define com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_03 4L
+#undef com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_04
+#define com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_04 8L
+#undef com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_05
+#define com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_05 16L
+#undef com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_06
+#define com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_06 32L
+#undef com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_07
+#define com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_07 64L
+#undef com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_08
+#define com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_08 128L
+#undef com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_09
+#define com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_09 256L
+#undef com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_10
+#define com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_10 512L
+#undef com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_11
+#define com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_11 1024L
+#undef com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_12
+#define com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_12 2048L
+#undef com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_13
+#define com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_13 4096L
+#undef com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_14
+#define com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_14 8192L
+#undef com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_15
+#define com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_15 16384L
+#undef com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_16
+#define com_jme3_bullet_objects_PhysicsGhostObject_COLLISION_GROUP_16 32768L
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+ * Method:    createGhostObject
+ * Signature: ()J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_createGhostObject
+  (JNIEnv *, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+ * Method:    setGhostFlags
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_setGhostFlags
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+ * Method:    setPhysicsLocation
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_setPhysicsLocation
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+ * Method:    setPhysicsRotation
+ * Signature: (JLcom/jme3/math/Matrix3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_setPhysicsRotation__JLcom_jme3_math_Matrix3f_2
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+ * Method:    setPhysicsRotation
+ * Signature: (JLcom/jme3/math/Quaternion;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_setPhysicsRotation__JLcom_jme3_math_Quaternion_2
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+ * Method:    getPhysicsLocation
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_getPhysicsLocation
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+ * Method:    getPhysicsRotation
+ * Signature: (JLcom/jme3/math/Quaternion;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_getPhysicsRotation
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+ * Method:    getPhysicsRotationMatrix
+ * Signature: (JLcom/jme3/math/Matrix3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_getPhysicsRotationMatrix
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+ * Method:    getOverlappingObjects
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_getOverlappingObjects
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+ * Method:    getOverlappingCount
+ * Signature: (J)I
+ */
+JNIEXPORT jint JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_getOverlappingCount
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+ * Method:    setCcdSweptSphereRadius
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_setCcdSweptSphereRadius
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+ * Method:    setCcdMotionThreshold
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_setCcdMotionThreshold
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+ * Method:    getCcdSweptSphereRadius
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_getCcdSweptSphereRadius
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+ * Method:    getCcdMotionThreshold
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_getCcdMotionThreshold
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsGhostObject
+ * Method:    getCcdSquareMotionThreshold
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsGhostObject_getCcdSquareMotionThreshold
+  (JNIEnv *, jobject, jlong);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_PhysicsRigidBody.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_PhysicsRigidBody.cpp
new file mode 100644 (file)
index 0000000..4794cde
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_PhysicsRigidBody.cpp
@@ -0,0 +1,849 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+#include "com_jme3_bullet_objects_PhysicsRigidBody.h"
+#include "jmeBulletUtil.h"
+#include "jmeMotionState.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    createRigidBody
+     * Signature: (FJJ)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_createRigidBody
+    (JNIEnv *env, jobject object, jfloat mass, jlong motionstatId, jlong shapeId) {
+        jmeClasses::initJavaClasses(env);
+        btMotionState* motionState = reinterpret_cast<btMotionState*>(motionstatId);
+        btCollisionShape* shape = reinterpret_cast<btCollisionShape*>(shapeId);
+        btVector3 localInertia = btVector3();
+        shape->calculateLocalInertia(mass, localInertia);
+        btRigidBody* body = new btRigidBody(mass, motionState, shape, localInertia);
+        body->setUserPointer(NULL);
+        return reinterpret_cast<jlong>(body);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    isInWorld
+     * Signature: (J)Z
+     */
+    JNIEXPORT jboolean JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_isInWorld
+    (JNIEnv *env, jobject object, jlong bodyId) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return false;
+        }
+        return body->isInWorld();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    setPhysicsLocation
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setPhysicsLocation
+    (JNIEnv *env, jobject object, jlong bodyId, jobject value) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        //        if (body->isStaticOrKinematicObject() || !body->isInWorld())
+        ((jmeMotionState*) body->getMotionState())->setKinematicLocation(env, value);
+        body->setCenterOfMassTransform(((jmeMotionState*) body->getMotionState())->worldTransform);
+        //        else{
+        //            btMatrix3x3* mtx = &btMatrix3x3();
+        //            btTransform* trans = &btTransform(*mtx);
+        //            trans->setBasis(body->getCenterOfMassTransform().getBasis());
+        //            jmeBulletUtil::convert(env, value, &trans->getOrigin());
+        //            body->setCenterOfMassTransform(*trans);
+        //        }
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    setPhysicsRotation
+     * Signature: (JLcom/jme3/math/Matrix3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setPhysicsRotation__JLcom_jme3_math_Matrix3f_2
+    (JNIEnv *env, jobject object, jlong bodyId, jobject value) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        //        if (body->isStaticOrKinematicObject() || !body->isInWorld())
+        ((jmeMotionState*) body->getMotionState())->setKinematicRotation(env, value);
+        body->setCenterOfMassTransform(((jmeMotionState*) body->getMotionState())->worldTransform);
+        //        else{
+        //            btMatrix3x3* mtx = &btMatrix3x3();
+        //            btTransform* trans = &btTransform(*mtx);
+        //            trans->setOrigin(body->getCenterOfMassTransform().getOrigin());
+        //            jmeBulletUtil::convert(env, value, &trans->getBasis());
+        //            body->setCenterOfMassTransform(*trans);
+        //        }
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    setPhysicsRotation
+     * Signature: (JLcom/jme3/math/Quaternion;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setPhysicsRotation__JLcom_jme3_math_Quaternion_2
+    (JNIEnv *env, jobject object, jlong bodyId, jobject value) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        //        if (body->isStaticOrKinematicObject() || !body->isInWorld())
+        ((jmeMotionState*) body->getMotionState())->setKinematicRotationQuat(env, value);
+        body->setCenterOfMassTransform(((jmeMotionState*) body->getMotionState())->worldTransform);
+        //        else{
+        //            btMatrix3x3* mtx = &btMatrix3x3();
+        //            btTransform* trans = &btTransform(*mtx);
+        //            trans->setOrigin(body->getCenterOfMassTransform().getOrigin());
+        //            jmeBulletUtil::convertQuat(env, value, &trans->getBasis());
+        //            body->setCenterOfMassTransform(*trans);
+        //        }
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    getPhysicsLocation
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getPhysicsLocation
+    (JNIEnv *env, jobject object, jlong bodyId, jobject value) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeBulletUtil::convert(env, &body->getWorldTransform().getOrigin(), value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    getPhysicsRotation
+     * Signature: (JLcom/jme3/math/Quaternion;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getPhysicsRotation
+    (JNIEnv *env, jobject object, jlong bodyId, jobject value) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeBulletUtil::convertQuat(env, &body->getWorldTransform().getBasis(), value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    getPhysicsRotationMatrix
+     * Signature: (JLcom/jme3/math/Matrix3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getPhysicsRotationMatrix
+    (JNIEnv *env, jobject object, jlong bodyId, jobject value) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeBulletUtil::convert(env, &body->getWorldTransform().getBasis(), value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    setKinematic
+     * Signature: (JZ)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setKinematic
+    (JNIEnv *env, jobject object, jlong bodyId, jboolean value) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        if (value) {
+            body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+            body->setActivationState(DISABLE_DEACTIVATION);
+        } else {
+            body->setCollisionFlags(body->getCollisionFlags() & ~btCollisionObject::CF_KINEMATIC_OBJECT);
+            body->setActivationState(ACTIVE_TAG);
+        }
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    setCcdSweptSphereRadius
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setCcdSweptSphereRadius
+    (JNIEnv *env, jobject object, jlong bodyId, jfloat value) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        body->setCcdSweptSphereRadius(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    setCcdMotionThreshold
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setCcdMotionThreshold
+    (JNIEnv *env, jobject object, jlong bodyId, jfloat value) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        body->setCcdMotionThreshold(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    getCcdSweptSphereRadius
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getCcdSweptSphereRadius
+    (JNIEnv *env, jobject object, jlong bodyId) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return body->getCcdSweptSphereRadius();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    getCcdMotionThreshold
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getCcdMotionThreshold
+    (JNIEnv *env, jobject object, jlong bodyId) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return body->getCcdMotionThreshold();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    getCcdSquareMotionThreshold
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getCcdSquareMotionThreshold
+    (JNIEnv *env, jobject object, jlong bodyId) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return body->getCcdSquareMotionThreshold();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    setStatic
+     * Signature: (JZ)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setStatic
+    (JNIEnv *env, jobject object, jlong bodyId, jboolean value) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        if (value) {
+            body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_STATIC_OBJECT);
+        } else {
+            body->setCollisionFlags(body->getCollisionFlags() & ~btCollisionObject::CF_STATIC_OBJECT);
+        }
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    updateMassProps
+     * Signature: (JJF)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_updateMassProps
+    (JNIEnv *env, jobject object, jlong bodyId, jlong shapeId, jfloat mass) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        btCollisionShape* shape = reinterpret_cast<btCollisionShape*>(shapeId);
+        btVector3 localInertia = btVector3();
+        shape->calculateLocalInertia(mass, localInertia);
+        body->setMassProps(mass, localInertia);
+        return reinterpret_cast<jlong>(body);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    getGravity
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getGravity
+    (JNIEnv *env, jobject object, jlong bodyId, jobject value) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeBulletUtil::convert(env, &body->getGravity(), value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    setGravity
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setGravity
+    (JNIEnv *env, jobject object, jlong bodyId, jobject value) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        btVector3 vec = btVector3();
+        jmeBulletUtil::convert(env, value, &vec);
+        body->setGravity(vec);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    getFriction
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getFriction
+    (JNIEnv *env, jobject object, jlong bodyId) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return body->getFriction();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    setFriction
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setFriction
+    (JNIEnv *env, jobject object, jlong bodyId, jfloat value) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        body->setFriction(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    setDamping
+     * Signature: (JFF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setDamping
+    (JNIEnv *env, jobject object, jlong bodyId, jfloat value1, jfloat value2) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        body->setDamping(value1, value2);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    setAngularDamping
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setAngularDamping
+    (JNIEnv *env, jobject object, jlong bodyId, jfloat value) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        body->setDamping(body->getAngularDamping(), value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    getLinearDamping
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getLinearDamping
+    (JNIEnv *env, jobject object, jlong bodyId) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return body->getLinearDamping();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    getAngularDamping
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getAngularDamping
+    (JNIEnv *env, jobject object, jlong bodyId) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return body->getAngularDamping();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    getRestitution
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getRestitution
+    (JNIEnv *env, jobject object, jlong bodyId) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return body->getRestitution();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    setRestitution
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setRestitution
+    (JNIEnv *env, jobject object, jlong bodyId, jfloat value) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        body->setRestitution(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    getAngularVelocity
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getAngularVelocity
+    (JNIEnv *env, jobject object, jlong bodyId, jobject value) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeBulletUtil::convert(env, &body->getAngularVelocity(), value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    setAngularVelocity
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setAngularVelocity
+    (JNIEnv *env, jobject object, jlong bodyId, jobject value) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        btVector3 vec = btVector3();
+        jmeBulletUtil::convert(env, value, &vec);
+        body->setAngularVelocity(vec);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    getLinearVelocity
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getLinearVelocity
+    (JNIEnv *env, jobject object, jlong bodyId, jobject value) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeBulletUtil::convert(env, &body->getLinearVelocity(), value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    setLinearVelocity
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setLinearVelocity
+    (JNIEnv *env, jobject object, jlong bodyId, jobject value) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        btVector3 vec = btVector3();
+        jmeBulletUtil::convert(env, value, &vec);
+        body->setLinearVelocity(vec);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    applyForce
+     * Signature: (JLcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_applyForce
+    (JNIEnv *env, jobject object, jlong bodyId, jobject force, jobject location) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        btVector3 vec1 = btVector3();
+        btVector3 vec2 = btVector3();
+        jmeBulletUtil::convert(env, force, &vec1);
+        jmeBulletUtil::convert(env, location, &vec2);
+        body->applyForce(vec1, vec2);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    applyCentralForce
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_applyCentralForce
+    (JNIEnv *env, jobject object, jlong bodyId, jobject force) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        btVector3 vec1 = btVector3();
+        jmeBulletUtil::convert(env, force, &vec1);
+        body->applyCentralForce(vec1);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    applyTorque
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_applyTorque
+    (JNIEnv *env, jobject object, jlong bodyId, jobject force) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        btVector3 vec1 = btVector3();
+        jmeBulletUtil::convert(env, force, &vec1);
+        body->applyTorque(vec1);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    applyImpulse
+     * Signature: (JLcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_applyImpulse
+    (JNIEnv *env, jobject object, jlong bodyId, jobject force, jobject location) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        btVector3 vec1 = btVector3();
+        btVector3 vec2 = btVector3();
+        jmeBulletUtil::convert(env, force, &vec1);
+        jmeBulletUtil::convert(env, location, &vec2);
+        body->applyImpulse(vec1, vec2);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    applyTorqueImpulse
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_applyTorqueImpulse
+    (JNIEnv *env, jobject object, jlong bodyId, jobject force) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        btVector3 vec1 = btVector3();
+        jmeBulletUtil::convert(env, force, &vec1);
+        body->applyTorqueImpulse(vec1);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    clearForces
+     * Signature: (J)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_clearForces
+    (JNIEnv *env, jobject object, jlong bodyId) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        body->clearForces();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    setCollisionShape
+     * Signature: (JJ)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setCollisionShape
+    (JNIEnv *env, jobject object, jlong bodyId, jlong shapeId) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        btCollisionShape* shape = reinterpret_cast<btCollisionShape*>(shapeId);
+        body->setCollisionShape(shape);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    activate
+     * Signature: (J)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_activate
+    (JNIEnv *env, jobject object, jlong bodyId) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        body->activate(false);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    isActive
+     * Signature: (J)Z
+     */
+    JNIEXPORT jboolean JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_isActive
+    (JNIEnv *env, jobject object, jlong bodyId) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return false;
+        }
+        return body->isActive();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    setSleepingThresholds
+     * Signature: (JFF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setSleepingThresholds
+    (JNIEnv *env, jobject object, jlong bodyId, jfloat linear, jfloat angular) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        body->setSleepingThresholds(linear, angular);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    setLinearSleepingThreshold
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setLinearSleepingThreshold
+    (JNIEnv *env, jobject object, jlong bodyId, jfloat value) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        body->setSleepingThresholds(value, body->getLinearSleepingThreshold());
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    setAngularSleepingThreshold
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setAngularSleepingThreshold
+    (JNIEnv *env, jobject object, jlong bodyId, jfloat value) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        body->setSleepingThresholds(body->getAngularSleepingThreshold(), value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    getLinearSleepingThreshold
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getLinearSleepingThreshold
+    (JNIEnv *env, jobject object, jlong bodyId) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return body->getLinearSleepingThreshold();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    getAngularSleepingThreshold
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getAngularSleepingThreshold
+    (JNIEnv *env, jobject object, jlong bodyId) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return body->getAngularSleepingThreshold();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    getAngularFactor
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getAngularFactor
+    (JNIEnv *env, jobject object, jlong bodyId) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return body->getAngularFactor().getX();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+     * Method:    setAngularFactor
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setAngularFactor
+    (JNIEnv *env, jobject object, jlong bodyId, jfloat value) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(bodyId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        btVector3 vec1 = btVector3();
+        vec1.setX(value);
+        vec1.setY(value);
+        vec1.setZ(value);
+        body->setAngularFactor(vec1);
+    }
+
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_PhysicsRigidBody.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_PhysicsRigidBody.h
new file mode 100644 (file)
index 0000000..aa09a62
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_PhysicsRigidBody.h
@@ -0,0 +1,415 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_objects_PhysicsRigidBody */
+
+#ifndef _Included_com_jme3_bullet_objects_PhysicsRigidBody
+#define _Included_com_jme3_bullet_objects_PhysicsRigidBody
+#ifdef __cplusplus
+extern "C" {
+#endif
+#undef com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_NONE
+#define com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_NONE 0L
+#undef com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_01
+#define com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_01 1L
+#undef com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_02
+#define com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_02 2L
+#undef com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_03
+#define com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_03 4L
+#undef com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_04
+#define com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_04 8L
+#undef com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_05
+#define com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_05 16L
+#undef com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_06
+#define com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_06 32L
+#undef com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_07
+#define com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_07 64L
+#undef com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_08
+#define com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_08 128L
+#undef com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_09
+#define com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_09 256L
+#undef com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_10
+#define com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_10 512L
+#undef com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_11
+#define com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_11 1024L
+#undef com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_12
+#define com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_12 2048L
+#undef com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_13
+#define com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_13 4096L
+#undef com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_14
+#define com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_14 8192L
+#undef com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_15
+#define com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_15 16384L
+#undef com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_16
+#define com_jme3_bullet_objects_PhysicsRigidBody_COLLISION_GROUP_16 32768L
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    createRigidBody
+ * Signature: (FJJ)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_createRigidBody
+  (JNIEnv *, jobject, jfloat, jlong, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    isInWorld
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_isInWorld
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    setPhysicsLocation
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setPhysicsLocation
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    setPhysicsRotation
+ * Signature: (JLcom/jme3/math/Matrix3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setPhysicsRotation__JLcom_jme3_math_Matrix3f_2
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    setPhysicsRotation
+ * Signature: (JLcom/jme3/math/Quaternion;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setPhysicsRotation__JLcom_jme3_math_Quaternion_2
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    getPhysicsLocation
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getPhysicsLocation
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    getPhysicsRotation
+ * Signature: (JLcom/jme3/math/Quaternion;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getPhysicsRotation
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    getPhysicsRotationMatrix
+ * Signature: (JLcom/jme3/math/Matrix3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getPhysicsRotationMatrix
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    setKinematic
+ * Signature: (JZ)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setKinematic
+  (JNIEnv *, jobject, jlong, jboolean);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    setCcdSweptSphereRadius
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setCcdSweptSphereRadius
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    setCcdMotionThreshold
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setCcdMotionThreshold
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    getCcdSweptSphereRadius
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getCcdSweptSphereRadius
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    getCcdMotionThreshold
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getCcdMotionThreshold
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    getCcdSquareMotionThreshold
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getCcdSquareMotionThreshold
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    setStatic
+ * Signature: (JZ)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setStatic
+  (JNIEnv *, jobject, jlong, jboolean);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    updateMassProps
+ * Signature: (JJF)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_updateMassProps
+  (JNIEnv *, jobject, jlong, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    getGravity
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getGravity
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    setGravity
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setGravity
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    getFriction
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getFriction
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    setFriction
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setFriction
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    setDamping
+ * Signature: (JFF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setDamping
+  (JNIEnv *, jobject, jlong, jfloat, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    setAngularDamping
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setAngularDamping
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    getLinearDamping
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getLinearDamping
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    getAngularDamping
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getAngularDamping
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    getRestitution
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getRestitution
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    setRestitution
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setRestitution
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    getAngularVelocity
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getAngularVelocity
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    setAngularVelocity
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setAngularVelocity
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    getLinearVelocity
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getLinearVelocity
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    setLinearVelocity
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setLinearVelocity
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    applyForce
+ * Signature: (JLcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_applyForce
+  (JNIEnv *, jobject, jlong, jobject, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    applyCentralForce
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_applyCentralForce
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    applyTorque
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_applyTorque
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    applyImpulse
+ * Signature: (JLcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_applyImpulse
+  (JNIEnv *, jobject, jlong, jobject, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    applyTorqueImpulse
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_applyTorqueImpulse
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    clearForces
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_clearForces
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    setCollisionShape
+ * Signature: (JJ)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setCollisionShape
+  (JNIEnv *, jobject, jlong, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    activate
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_activate
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    isActive
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_isActive
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    setSleepingThresholds
+ * Signature: (JFF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setSleepingThresholds
+  (JNIEnv *, jobject, jlong, jfloat, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    setLinearSleepingThreshold
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setLinearSleepingThreshold
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    setAngularSleepingThreshold
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setAngularSleepingThreshold
+  (JNIEnv *, jobject, jlong, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    getLinearSleepingThreshold
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getLinearSleepingThreshold
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    getAngularSleepingThreshold
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getAngularSleepingThreshold
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    getAngularFactor
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_getAngularFactor
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsRigidBody
+ * Method:    setAngularFactor
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsRigidBody_setAngularFactor
+  (JNIEnv *, jobject, jlong, jfloat);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_PhysicsVehicle.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_PhysicsVehicle.cpp
new file mode 100644 (file)
index 0000000..184a130
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_PhysicsVehicle.cpp
@@ -0,0 +1,275 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+
+#include "com_jme3_bullet_objects_PhysicsVehicle.h"
+#include "jmeBulletUtil.h"
+#include "jmePhysicsSpace.h"
+#include "BulletDynamics/Vehicle/btRaycastVehicle.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsVehicle
+     * Method:    updateWheelTransform
+     * Signature: (JIZ)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_updateWheelTransform
+    (JNIEnv *env, jobject object, jlong vehicleId, jint wheel, jboolean interpolated) {
+        btRaycastVehicle* vehicle = reinterpret_cast<btRaycastVehicle*>(vehicleId);
+        if (vehicle == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        vehicle->updateWheelTransform(wheel, interpolated);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsVehicle
+     * Method:    createVehicleRaycaster
+     * Signature: (JJ)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_createVehicleRaycaster
+    (JNIEnv *env, jobject object, jlong bodyId, jlong spaceId) {
+        //btRigidBody* body = (btRigidBody*) bodyId;
+        jmePhysicsSpace *space = reinterpret_cast<jmePhysicsSpace *>(spaceId);
+        if (space == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        btDefaultVehicleRaycaster* caster = new btDefaultVehicleRaycaster(space->getDynamicsWorld());
+        return reinterpret_cast<jlong>(caster);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsVehicle
+     * Method:    createRaycastVehicle
+     * Signature: (JJ)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_createRaycastVehicle
+    (JNIEnv *env, jobject object, jlong objectId, jlong casterId) {
+        btRigidBody* body = reinterpret_cast<btRigidBody*>(objectId);
+        if (body == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        body->setActivationState(DISABLE_DEACTIVATION);
+        btVehicleRaycaster* caster = reinterpret_cast<btDefaultVehicleRaycaster*>(casterId);
+        btRaycastVehicle::btVehicleTuning tuning;
+        btRaycastVehicle* vehicle = new btRaycastVehicle(tuning, body, caster);
+        return reinterpret_cast<jlong>(vehicle);
+
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsVehicle
+     * Method:    setCoordinateSystem
+     * Signature: (JIII)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_setCoordinateSystem
+    (JNIEnv *env, jobject object, jlong vehicleId, jint right, jint up, jint forward) {
+        btRaycastVehicle* vehicle = reinterpret_cast<btRaycastVehicle*>(vehicleId);
+        if (vehicle == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        vehicle->setCoordinateSystem(right, up, forward);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsVehicle
+     * Method:    addWheel
+     * Signature: (JLcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;FFLcom/jme3/bullet/objects/infos/VehicleTuning;Z)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_addWheel
+    (JNIEnv *env, jobject object, jlong vehicleId, jobject location, jobject direction, jobject axle, jfloat restLength, jfloat radius, jobject tuning, jboolean frontWheel) {
+        btRaycastVehicle* vehicle = reinterpret_cast<btRaycastVehicle*>(vehicleId);
+        if (vehicle == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        btVector3 vec1 = btVector3();
+        btVector3 vec2 = btVector3();
+        btVector3 vec3 = btVector3();
+        jmeBulletUtil::convert(env, location, &vec1);
+        jmeBulletUtil::convert(env, direction, &vec2);
+        jmeBulletUtil::convert(env, axle, &vec3);
+        btRaycastVehicle::btVehicleTuning tune;
+        btWheelInfo* info = &vehicle->addWheel(vec1, vec2, vec3, restLength, radius, tune, frontWheel);
+        return reinterpret_cast<jlong>(info);
+    }
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsVehicle
+ * Method:    getWheel
+ * Signature: (JI)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_getWheel
+  (JNIEnv *env, jobject object, jlong vehicleId, jint index) {
+        btRaycastVehicle* vehicle = reinterpret_cast<btRaycastVehicle*>(vehicleId);
+        if (vehicle == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return reinterpret_cast<jlong>(&vehicle->getWheelInfo(index));
+}
+
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsVehicle
+     * Method:    resetSuspension
+     * Signature: (J)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_resetSuspension
+    (JNIEnv *env, jobject object, jlong vehicleId) {
+        btRaycastVehicle* vehicle = reinterpret_cast<btRaycastVehicle*>(vehicleId);
+        if (vehicle == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        vehicle->resetSuspension();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsVehicle
+     * Method:    applyEngineForce
+     * Signature: (JIF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_applyEngineForce
+    (JNIEnv *env, jobject object, jlong vehicleId, jint wheel, jfloat force) {
+        btRaycastVehicle* vehicle = reinterpret_cast<btRaycastVehicle*>(vehicleId);
+        if (vehicle == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        vehicle->applyEngineForce(force, wheel);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsVehicle
+     * Method:    steer
+     * Signature: (JIF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_steer
+    (JNIEnv *env, jobject object, jlong vehicleId, jint wheel, jfloat value) {
+        btRaycastVehicle* vehicle = reinterpret_cast<btRaycastVehicle*>(vehicleId);
+        if (vehicle == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        vehicle->setSteeringValue(value, wheel);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsVehicle
+     * Method:    brake
+     * Signature: (JIF)F
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_brake
+    (JNIEnv *env, jobject object, jlong vehicleId, jint wheel, jfloat value) {
+        btRaycastVehicle* vehicle = reinterpret_cast<btRaycastVehicle*>(vehicleId);
+        if (vehicle == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        vehicle->setBrake(value, wheel);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsVehicle
+     * Method:    getCurrentVehicleSpeedKmHour
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_getCurrentVehicleSpeedKmHour
+    (JNIEnv *env, jobject object, jlong vehicleId) {
+        btRaycastVehicle* vehicle = reinterpret_cast<btRaycastVehicle*>(vehicleId);
+        if (vehicle == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return vehicle->getCurrentSpeedKmHour();
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsVehicle
+     * Method:    getForwardVector
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_getForwardVector
+    (JNIEnv *env, jobject object, jlong vehicleId, jobject out) {
+        btRaycastVehicle* vehicle = reinterpret_cast<btRaycastVehicle*>(vehicleId);
+        if (vehicle == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        btVector3 forwardVector = vehicle->getForwardVector();
+        jmeBulletUtil::convert(env, &forwardVector, out);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsVehicle
+     * Method:    finalizeNative
+     * Signature: (JJ)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_finalizeNative
+    (JNIEnv *env, jobject object, jlong casterId, jlong vehicleId) {
+        btVehicleRaycaster* rayCaster = reinterpret_cast<btVehicleRaycaster*>(casterId);
+        btRaycastVehicle* vehicle = reinterpret_cast<btRaycastVehicle*>(vehicleId);
+        if (vehicle == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        delete(vehicle);
+        delete(rayCaster);
+    }
+
+#ifdef __cplusplus
+}
+#endif
+

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_PhysicsVehicle.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_PhysicsVehicle.h
new file mode 100644 (file)
index 0000000..f86b51f
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_PhysicsVehicle.h
@@ -0,0 +1,151 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_objects_PhysicsVehicle */
+
+#ifndef _Included_com_jme3_bullet_objects_PhysicsVehicle
+#define _Included_com_jme3_bullet_objects_PhysicsVehicle
+#ifdef __cplusplus
+extern "C" {
+#endif
+#undef com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_NONE
+#define com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_NONE 0L
+#undef com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_01
+#define com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_01 1L
+#undef com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_02
+#define com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_02 2L
+#undef com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_03
+#define com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_03 4L
+#undef com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_04
+#define com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_04 8L
+#undef com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_05
+#define com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_05 16L
+#undef com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_06
+#define com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_06 32L
+#undef com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_07
+#define com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_07 64L
+#undef com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_08
+#define com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_08 128L
+#undef com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_09
+#define com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_09 256L
+#undef com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_10
+#define com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_10 512L
+#undef com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_11
+#define com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_11 1024L
+#undef com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_12
+#define com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_12 2048L
+#undef com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_13
+#define com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_13 4096L
+#undef com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_14
+#define com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_14 8192L
+#undef com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_15
+#define com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_15 16384L
+#undef com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_16
+#define com_jme3_bullet_objects_PhysicsVehicle_COLLISION_GROUP_16 32768L
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsVehicle
+ * Method:    updateWheelTransform
+ * Signature: (JIZ)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_updateWheelTransform
+  (JNIEnv *, jobject, jlong, jint, jboolean);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsVehicle
+ * Method:    createVehicleRaycaster
+ * Signature: (JJ)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_createVehicleRaycaster
+  (JNIEnv *, jobject, jlong, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsVehicle
+ * Method:    createRaycastVehicle
+ * Signature: (JJ)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_createRaycastVehicle
+  (JNIEnv *, jobject, jlong, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsVehicle
+ * Method:    setCoordinateSystem
+ * Signature: (JIII)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_setCoordinateSystem
+  (JNIEnv *, jobject, jlong, jint, jint, jint);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsVehicle
+ * Method:    addWheel
+ * Signature: (JLcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;FFLcom/jme3/bullet/objects/infos/VehicleTuning;Z)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_addWheel
+  (JNIEnv *, jobject, jlong, jobject, jobject, jobject, jfloat, jfloat, jobject, jboolean);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsVehicle
+ * Method:    getWheel
+ * Signature: (JI)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_getWheel
+  (JNIEnv *, jobject, jlong, jint);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsVehicle
+ * Method:    resetSuspension
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_resetSuspension
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsVehicle
+ * Method:    applyEngineForce
+ * Signature: (JIF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_applyEngineForce
+  (JNIEnv *, jobject, jlong, jint, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsVehicle
+ * Method:    steer
+ * Signature: (JIF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_steer
+  (JNIEnv *, jobject, jlong, jint, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsVehicle
+ * Method:    brake
+ * Signature: (JIF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_brake
+  (JNIEnv *, jobject, jlong, jint, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsVehicle
+ * Method:    getCurrentVehicleSpeedKmHour
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_getCurrentVehicleSpeedKmHour
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsVehicle
+ * Method:    getForwardVector
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_getForwardVector
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_PhysicsVehicle
+ * Method:    finalizeNative
+ * Signature: (JJ)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_finalizeNative
+  (JNIEnv *, jobject, jlong, jlong);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_VehicleWheel.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_VehicleWheel.cpp
new file mode 100644 (file)
index 0000000..6f0be61
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_VehicleWheel.cpp
@@ -0,0 +1,157 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+
+#include "com_jme3_bullet_objects_VehicleWheel.h"
+#include "jmeBulletUtil.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_objects_VehicleWheel
+     * Method:    getWheelLocation
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_VehicleWheel_getWheelLocation
+    (JNIEnv *env, jobject object, jlong wheelId, jobject out) {
+        btWheelInfo* wheel = reinterpret_cast<btWheelInfo*>(wheelId);
+        if (wheel == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeBulletUtil::convert(env, &wheel->m_worldTransform.getOrigin(), out);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_VehicleWheel
+     * Method:    getWheelRotation
+     * Signature: (JLcom/jme3/math/Matrix3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_VehicleWheel_getWheelRotation
+    (JNIEnv *env, jobject object, jlong wheelId, jobject out) {
+        btWheelInfo* wheel = reinterpret_cast<btWheelInfo*>(wheelId);
+        if (wheel == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeBulletUtil::convert(env, &wheel->m_worldTransform.getBasis(), out);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_VehicleWheel
+     * Method:    applyInfo
+     * Signature: (JFFFFFFFFZF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_VehicleWheel_applyInfo
+    (JNIEnv *env, jobject object, jlong wheelId, jfloat suspensionStiffness, jfloat wheelsDampingRelaxation, jfloat wheelsDampingCompression, jfloat frictionSlip, jfloat rollInfluence, jfloat maxSuspensionTravelCm, jfloat maxSuspensionForce, jfloat radius, jboolean frontWheel, jfloat restLength) {
+        btWheelInfo* wheelInfo = reinterpret_cast<btWheelInfo*>(wheelId);
+        wheelInfo->m_suspensionStiffness = suspensionStiffness;
+        wheelInfo->m_wheelsDampingRelaxation = wheelsDampingRelaxation;
+        wheelInfo->m_wheelsDampingCompression = wheelsDampingCompression;
+        wheelInfo->m_frictionSlip = frictionSlip;
+        wheelInfo->m_rollInfluence = rollInfluence;
+        wheelInfo->m_maxSuspensionTravelCm = maxSuspensionTravelCm;
+        wheelInfo->m_maxSuspensionForce = maxSuspensionForce;
+        wheelInfo->m_wheelsRadius = radius;
+        wheelInfo->m_bIsFrontWheel = frontWheel;
+        wheelInfo->m_suspensionRestLength1 = restLength;
+
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_VehicleWheel
+     * Method:    getCollisionLocation
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_VehicleWheel_getCollisionLocation
+    (JNIEnv *env, jobject object, jlong wheelId, jobject out) {
+        btWheelInfo* wheel = reinterpret_cast<btWheelInfo*>(wheelId);
+        if (wheel == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeBulletUtil::convert(env, &wheel->m_raycastInfo.m_contactPointWS, out);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_VehicleWheel
+     * Method:    getCollisionNormal
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_VehicleWheel_getCollisionNormal
+    (JNIEnv *env, jobject object, jlong wheelId, jobject out) {
+        btWheelInfo* wheel = reinterpret_cast<btWheelInfo*>(wheelId);
+        if (wheel == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeBulletUtil::convert(env, &wheel->m_raycastInfo.m_contactNormalWS, out);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_VehicleWheel
+     * Method:    getSkidInfo
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_VehicleWheel_getSkidInfo
+    (JNIEnv *env, jobject object, jlong wheelId) {
+        btWheelInfo* wheel = reinterpret_cast<btWheelInfo*>(wheelId);
+        if (wheel == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return wheel->m_skidInfo;
+    }
+
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_VehicleWheel_finalizeNative
+    (JNIEnv *env, jobject object, jlong wheelId) {
+        btWheelInfo* wheel = reinterpret_cast<btWheelInfo*>(wheelId);
+        if (wheel == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+//        delete(wheel);
+    }
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_VehicleWheel.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_VehicleWheel.h
new file mode 100644 (file)
index 0000000..6f136a8
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_VehicleWheel.h
@@ -0,0 +1,69 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_objects_VehicleWheel */
+
+#ifndef _Included_com_jme3_bullet_objects_VehicleWheel
+#define _Included_com_jme3_bullet_objects_VehicleWheel
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_jme3_bullet_objects_VehicleWheel
+ * Method:    getWheelLocation
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_VehicleWheel_getWheelLocation
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_VehicleWheel
+ * Method:    getWheelRotation
+ * Signature: (JLcom/jme3/math/Matrix3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_VehicleWheel_getWheelRotation
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_VehicleWheel
+ * Method:    applyInfo
+ * Signature: (JFFFFFFFFZF)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_VehicleWheel_applyInfo
+  (JNIEnv *, jobject, jlong, jfloat, jfloat, jfloat, jfloat, jfloat, jfloat, jfloat, jfloat, jboolean, jfloat);
+
+/*
+ * Class:     com_jme3_bullet_objects_VehicleWheel
+ * Method:    getCollisionLocation
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_VehicleWheel_getCollisionLocation
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_VehicleWheel
+ * Method:    getCollisionNormal
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_VehicleWheel_getCollisionNormal
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_VehicleWheel
+ * Method:    getSkidInfo
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_VehicleWheel_getSkidInfo
+  (JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     com_jme3_bullet_objects_VehicleWheel
+ * Method:    finalizeNative
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_VehicleWheel_finalizeNative
+  (JNIEnv *, jobject, jlong);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_infos_RigidBodyMotionState.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_infos_RigidBodyMotionState.cpp
new file mode 100644 (file)
index 0000000..f61a376
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_infos_RigidBodyMotionState.cpp
@@ -0,0 +1,138 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+#include "com_jme3_bullet_objects_infos_RigidBodyMotionState.h"
+#include "jmeBulletUtil.h"
+#include "jmeMotionState.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_objects_infos_RigidBodyMotionState
+     * Method:    createMotionState
+     * Signature: ()J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_objects_infos_RigidBodyMotionState_createMotionState
+    (JNIEnv *env, jobject object) {
+        jmeClasses::initJavaClasses(env);
+        jmeMotionState* motionState = new jmeMotionState();
+        return reinterpret_cast<jlong>(motionState);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_infos_RigidBodyMotionState
+     * Method:    applyTransform
+     * Signature: (JLcom/jme3/math/Vector3f;Lcom/jme3/math/Quaternion;)Z
+     */
+    JNIEXPORT jboolean JNICALL Java_com_jme3_bullet_objects_infos_RigidBodyMotionState_applyTransform
+    (JNIEnv *env, jobject object, jlong stateId, jobject location, jobject rotation) {
+        jmeMotionState* motionState = reinterpret_cast<jmeMotionState*>(stateId);
+        if (motionState == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return false;
+        }
+        return motionState->applyTransform(env, location, rotation);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_infos_RigidBodyMotionState
+     * Method:    getWorldLocation
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_infos_RigidBodyMotionState_getWorldLocation
+    (JNIEnv *env, jobject object, jlong stateId, jobject value) {
+        jmeMotionState* motionState = reinterpret_cast<jmeMotionState*>(stateId);
+        if (motionState == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeBulletUtil::convert(env, &motionState->worldTransform.getOrigin(), value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_infos_RigidBodyMotionState
+     * Method:    getWorldRotation
+     * Signature: (JLcom/jme3/math/Matrix3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_infos_RigidBodyMotionState_getWorldRotation
+    (JNIEnv *env, jobject object, jlong stateId, jobject value) {
+        jmeMotionState* motionState = reinterpret_cast<jmeMotionState*>(stateId);
+        if (motionState == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeBulletUtil::convert(env, &motionState->worldTransform.getBasis(), value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_infos_RigidBodyMotionState
+     * Method:    getWorldRotationQuat
+     * Signature: (JLcom/jme3/math/Quaternion;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_infos_RigidBodyMotionState_getWorldRotationQuat
+    (JNIEnv *env, jobject object, jlong stateId, jobject value) {
+        jmeMotionState* motionState = reinterpret_cast<jmeMotionState*>(stateId);
+        if (motionState == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        jmeBulletUtil::convertQuat(env, &motionState->worldTransform.getBasis(), value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_infos_RigidBodyMotionState
+     * Method:    finalizeNative
+     * Signature: (J)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_infos_RigidBodyMotionState_finalizeNative
+    (JNIEnv *env, jobject object, jlong stateId) {
+        jmeMotionState* motionState = reinterpret_cast<jmeMotionState*>(stateId);
+        if (motionState == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        delete(motionState);
+    }
+
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_infos_RigidBodyMotionState.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_infos_RigidBodyMotionState.h
new file mode 100644 (file)
index 0000000..7939038
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_objects_infos_RigidBodyMotionState.h
@@ -0,0 +1,61 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_objects_infos_RigidBodyMotionState */
+
+#ifndef _Included_com_jme3_bullet_objects_infos_RigidBodyMotionState
+#define _Included_com_jme3_bullet_objects_infos_RigidBodyMotionState
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_jme3_bullet_objects_infos_RigidBodyMotionState
+ * Method:    createMotionState
+ * Signature: ()J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_objects_infos_RigidBodyMotionState_createMotionState
+  (JNIEnv *, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_infos_RigidBodyMotionState
+ * Method:    applyTransform
+ * Signature: (JLcom/jme3/math/Vector3f;Lcom/jme3/math/Quaternion;)Z
+ */
+JNIEXPORT jboolean JNICALL Java_com_jme3_bullet_objects_infos_RigidBodyMotionState_applyTransform
+  (JNIEnv *, jobject, jlong, jobject, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_infos_RigidBodyMotionState
+ * Method:    getWorldLocation
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_infos_RigidBodyMotionState_getWorldLocation
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_infos_RigidBodyMotionState
+ * Method:    getWorldRotation
+ * Signature: (JLcom/jme3/math/Matrix3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_infos_RigidBodyMotionState_getWorldRotation
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_infos_RigidBodyMotionState
+ * Method:    getWorldRotationQuat
+ * Signature: (JLcom/jme3/math/Quaternion;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_infos_RigidBodyMotionState_getWorldRotationQuat
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+ * Class:     com_jme3_bullet_objects_infos_RigidBodyMotionState
+ * Method:    finalizeNative
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_infos_RigidBodyMotionState_finalizeNative
+  (JNIEnv *, jobject, jlong);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_util_DebugShapeFactory.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_util_DebugShapeFactory.cpp
new file mode 100644 (file)
index 0000000..fd18e0f
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_util_DebugShapeFactory.cpp
@@ -0,0 +1,156 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen, CJ Hare
+ */
+#include "com_jme3_bullet_util_DebugShapeFactory.h"
+#include "jmeBulletUtil.h"
+#include "BulletCollision/CollisionShapes/btShapeHull.h"
+
+class DebugCallback : public btTriangleCallback, public btInternalTriangleIndexCallback {
+public:
+    JNIEnv* env;
+    jobject callback;
+
+    DebugCallback(JNIEnv* env, jobject object) {
+        this->env = env;
+        this->callback = object;
+    }
+
+    virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex) {
+        processTriangle(triangle, partId, triangleIndex);
+    }
+
+    virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) {
+        btVector3 vertexA, vertexB, vertexC;
+        vertexA = triangle[0];
+        vertexB = triangle[1];
+        vertexC = triangle[2];
+        env->CallVoidMethod(callback, jmeClasses::DebugMeshCallback_addVector, vertexA.getX(), vertexA.getY(), vertexA.getZ(), partId, triangleIndex);
+        if (env->ExceptionCheck()) {
+            env->Throw(env->ExceptionOccurred());
+            return;
+        }
+//        triangle = 
+        env->CallVoidMethod(callback, jmeClasses::DebugMeshCallback_addVector, vertexB.getX(), vertexB.getY(), vertexB.getZ(), partId, triangleIndex);
+        if (env->ExceptionCheck()) {
+            env->Throw(env->ExceptionOccurred());
+            return;
+        }
+        env->CallVoidMethod(callback, jmeClasses::DebugMeshCallback_addVector, vertexC.getX(), vertexC.getY(), vertexC.getZ(), partId, triangleIndex);
+        if (env->ExceptionCheck()) {
+            env->Throw(env->ExceptionOccurred());
+            return;
+        }
+    }
+};
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /* Inaccessible static: _00024assertionsDisabled */
+
+    /*
+     * Class:     com_jme3_bullet_util_DebugShapeFactory
+     * Method:    getVertices
+     * Signature: (JLcom/jme3/bullet/util/DebugMeshCallback;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_util_DebugShapeFactory_getVertices
+    (JNIEnv *env, jclass clazz, jlong shapeId, jobject callback) {
+        btCollisionShape* shape = reinterpret_cast<btCollisionShape*>(shapeId);
+        if (shape->isConcave()) {
+//            fprintf(stdout,"Concave shape");
+//            fflush(stdout);
+            btConcaveShape* concave = (btConcaveShape*) shape;
+            DebugCallback* clb = new DebugCallback(env, callback);
+            btVector3 min = btVector3(-1e30, -1e30, -1e30);
+            btVector3 max = btVector3(1e30, 1e30, 1e30);
+            concave->processAllTriangles(clb, min, max);
+            delete(clb);
+        } else if (shape->isConvex()) {
+//            fprintf(stdout,"Convex shape");
+//            fflush(stdout);
+            btConvexShape* convexShape = (btConvexShape*) shape;
+            // Check there is a hull shape to render
+            if (convexShape->getUserPointer() == NULL) {
+                // create a hull approximation
+                btShapeHull* hull = new btShapeHull(convexShape);
+                float margin = convexShape->getMargin();
+                hull->buildHull(margin);
+                convexShape->setUserPointer(hull);
+            }
+
+            btShapeHull* hull = (btShapeHull*) convexShape->getUserPointer();
+
+            int numberOfTriangles = hull->numTriangles();
+            int numberOfFloats = 3 * 3 * numberOfTriangles;
+            int byteBufferSize = numberOfFloats * 4;
+            
+            // Loop variables
+            const unsigned int* hullIndices = hull->getIndexPointer();
+            const btVector3* hullVertices = hull->getVertexPointer();
+            btVector3 vertexA, vertexB, vertexC;
+            int index = 0;
+
+            for (int i = 0; i < numberOfTriangles; i++) {
+                // Grab the data for this triangle from the hull
+                vertexA = hullVertices[hullIndices[index++]];
+                vertexB = hullVertices[hullIndices[index++]];
+                vertexC = hullVertices[hullIndices[index++]];
+
+                // Put the verticies into the vertex buffer
+                env->CallVoidMethod(callback, jmeClasses::DebugMeshCallback_addVector, vertexA.getX(), vertexA.getY(), vertexA.getZ());
+                if (env->ExceptionCheck()) {
+                    env->Throw(env->ExceptionOccurred());
+                    return;
+                }
+                env->CallVoidMethod(callback, jmeClasses::DebugMeshCallback_addVector, vertexB.getX(), vertexB.getY(), vertexB.getZ());
+                if (env->ExceptionCheck()) {
+                    env->Throw(env->ExceptionOccurred());
+                    return;
+                }
+                env->CallVoidMethod(callback, jmeClasses::DebugMeshCallback_addVector, vertexC.getX(), vertexC.getY(), vertexC.getZ());
+                if (env->ExceptionCheck()) {
+                    env->Throw(env->ExceptionOccurred());
+                    return;
+                }
+            }
+            delete hull;
+            convexShape->setUserPointer(NULL);
+        }
+    }
+
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_util_DebugShapeFactory.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_util_DebugShapeFactory.h
new file mode 100644 (file)
index 0000000..757696f
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_util_DebugShapeFactory.h
@@ -0,0 +1,21 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_util_DebugShapeFactory */
+
+#ifndef _Included_com_jme3_bullet_util_DebugShapeFactory
+#define _Included_com_jme3_bullet_util_DebugShapeFactory
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_jme3_bullet_util_DebugShapeFactory
+ * Method:    getVertices
+ * Signature: (JLcom/jme3/bullet/util/DebugMeshCallback;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_util_DebugShapeFactory_getVertices
+  (JNIEnv *, jclass, jlong, jobject);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_util_NativeMeshUtil.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_util_NativeMeshUtil.cpp
new file mode 100644 (file)
index 0000000..bf0b478
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_util_NativeMeshUtil.cpp
@@ -0,0 +1,59 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Author: Normen Hansen
+ */
+#include "com_jme3_bullet_util_NativeMeshUtil.h"
+#include "jmeBulletUtil.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+     * Class:     com_jme3_bullet_util_NativeMeshUtil
+     * Method:    createTriangleIndexVertexArray
+     * Signature: (Ljava/nio/ByteBuffer;Ljava/nio/ByteBuffer;IIII)J
+     */
+    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_util_NativeMeshUtil_createTriangleIndexVertexArray
+    (JNIEnv * env, jclass cls, jobject triangleIndexBase, jobject vertexIndexBase, jint numTriangles, jint numVertices, jint vertexStride, jint triangleIndexStride) {
+        jmeClasses::initJavaClasses(env);
+        int* triangles = (int*) env->GetDirectBufferAddress(triangleIndexBase);
+        float* vertices = (float*) env->GetDirectBufferAddress(vertexIndexBase);
+        btTriangleIndexVertexArray* array = new btTriangleIndexVertexArray(numTriangles, triangles, triangleIndexStride, numVertices, vertices, vertexStride);
+        return reinterpret_cast<jlong>(array);
+    }
+
+#ifdef __cplusplus
+}
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_util_NativeMeshUtil.h b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_util_NativeMeshUtil.h
new file mode 100644 (file)
index 0000000..0be9f4d
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/com_jme3_bullet_util_NativeMeshUtil.h
@@ -0,0 +1,21 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class com_jme3_bullet_util_NativeMeshUtil */
+
+#ifndef _Included_com_jme3_bullet_util_NativeMeshUtil
+#define _Included_com_jme3_bullet_util_NativeMeshUtil
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     com_jme3_bullet_util_NativeMeshUtil
+ * Method:    createTriangleIndexVertexArray
+ * Signature: (Ljava/nio/ByteBuffer;Ljava/nio/ByteBuffer;IIII)J
+ */
+JNIEXPORT jlong JNICALL Java_com_jme3_bullet_util_NativeMeshUtil_createTriangleIndexVertexArray
+  (JNIEnv *, jclass, jobject, jobject, jint, jint, jint, jint);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/jmeBulletUtil.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/jmeBulletUtil.cpp
new file mode 100644 (file)
index 0000000..e0a20ed
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/jmeBulletUtil.cpp
@@ -0,0 +1,308 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#include <math.h>
+#include "jmeBulletUtil.h"
+
+/**
+ * Author: Normen Hansen
+ */
+void jmeBulletUtil::convert(JNIEnv* env, jobject in, btVector3* out) {
+    if (in == NULL || out == NULL) {
+        jmeClasses::throwNPE(env);
+    }
+    float x = env->GetFloatField(in, jmeClasses::Vector3f_x);//env->CallFloatMethod(in, jmeClasses::Vector3f_getX);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    float y = env->GetFloatField(in, jmeClasses::Vector3f_y);//env->CallFloatMethod(in, jmeClasses::Vector3f_getY);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    float z = env->GetFloatField(in, jmeClasses::Vector3f_z);//env->CallFloatMethod(in, jmeClasses::Vector3f_getZ);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    out->setX(x);
+    out->setY(y);
+    out->setZ(z);
+}
+
+void jmeBulletUtil::convert(JNIEnv* env, const btVector3* in, jobject out) {
+    if (in == NULL || out == NULL) {
+        jmeClasses::throwNPE(env);
+    }
+    float x = in->getX();
+    float y = in->getY();
+    float z = in->getZ();
+    env->SetFloatField(out, jmeClasses::Vector3f_x, x);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    env->SetFloatField(out, jmeClasses::Vector3f_y, y);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    env->SetFloatField(out, jmeClasses::Vector3f_z, z);
+//    env->CallObjectMethod(out, jmeClasses::Vector3f_set, x, y, z);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+}
+
+void jmeBulletUtil::convert(JNIEnv* env, jobject in, btMatrix3x3* out) {
+    if (in == NULL || out == NULL) {
+        jmeClasses::throwNPE(env);
+    }
+    float m00 = env->GetFloatField(in, jmeClasses::Matrix3f_m00);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    float m01 = env->GetFloatField(in, jmeClasses::Matrix3f_m01);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    float m02 = env->GetFloatField(in, jmeClasses::Matrix3f_m02);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    float m10 = env->GetFloatField(in, jmeClasses::Matrix3f_m10);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    float m11 = env->GetFloatField(in, jmeClasses::Matrix3f_m11);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    float m12 = env->GetFloatField(in, jmeClasses::Matrix3f_m12);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    float m20 = env->GetFloatField(in, jmeClasses::Matrix3f_m20);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    float m21 = env->GetFloatField(in, jmeClasses::Matrix3f_m21);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    float m22 = env->GetFloatField(in, jmeClasses::Matrix3f_m22);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    out->setValue(m00, m01, m02, m10, m11, m12, m20, m21, m22);
+}
+
+void jmeBulletUtil::convert(JNIEnv* env, const btMatrix3x3* in, jobject out) {
+    if (in == NULL || out == NULL) {
+        jmeClasses::throwNPE(env);
+    }
+    float m00 = in->getRow(0).m_floats[0];
+    float m01 = in->getRow(0).m_floats[1];
+    float m02 = in->getRow(0).m_floats[2];
+    float m10 = in->getRow(1).m_floats[0];
+    float m11 = in->getRow(1).m_floats[1];
+    float m12 = in->getRow(1).m_floats[2];
+    float m20 = in->getRow(2).m_floats[0];
+    float m21 = in->getRow(2).m_floats[1];
+    float m22 = in->getRow(2).m_floats[2];
+    env->SetFloatField(out, jmeClasses::Matrix3f_m00, m00);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    env->SetFloatField(out, jmeClasses::Matrix3f_m01, m01);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    env->SetFloatField(out, jmeClasses::Matrix3f_m02, m02);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    env->SetFloatField(out, jmeClasses::Matrix3f_m10, m10);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    env->SetFloatField(out, jmeClasses::Matrix3f_m11, m11);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    env->SetFloatField(out, jmeClasses::Matrix3f_m12, m12);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    env->SetFloatField(out, jmeClasses::Matrix3f_m20, m20);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    env->SetFloatField(out, jmeClasses::Matrix3f_m21, m21);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    env->SetFloatField(out, jmeClasses::Matrix3f_m22, m22);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+}
+
+void jmeBulletUtil::convertQuat(JNIEnv* env, jobject in, btMatrix3x3* out) {
+    if (in == NULL || out == NULL) {
+        jmeClasses::throwNPE(env);
+    }
+    float x = env->GetFloatField(in, jmeClasses::Quaternion_x);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    float y = env->GetFloatField(in, jmeClasses::Quaternion_y);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    float z = env->GetFloatField(in, jmeClasses::Quaternion_z);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    float w = env->GetFloatField(in, jmeClasses::Quaternion_w);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+
+    float norm = w * w + x * x + y * y + z * z;
+    float s = (norm == 1.0) ? 2.0 : (norm > 0.1) ? 2.0 / norm : 0.0;
+
+    // compute xs/ys/zs first to save 6 multiplications, since xs/ys/zs
+    // will be used 2-4 times each.
+    float xs = x * s;
+    float ys = y * s;
+    float zs = z * s;
+    float xx = x * xs;
+    float xy = x * ys;
+    float xz = x * zs;
+    float xw = w * xs;
+    float yy = y * ys;
+    float yz = y * zs;
+    float yw = w * ys;
+    float zz = z * zs;
+    float zw = w * zs;
+
+    // using s=2/norm (instead of 1/norm) saves 9 multiplications by 2 here
+    out->setValue(1.0 - (yy + zz), (xy - zw), (xz + yw),
+            (xy + zw), 1 - (xx + zz), (yz - xw),
+            (xz - yw), (yz + xw), 1.0 - (xx + yy));
+}
+
+void jmeBulletUtil::convertQuat(JNIEnv* env, const btMatrix3x3* in, jobject out) {
+    if (in == NULL || out == NULL) {
+        jmeClasses::throwNPE(env);
+    }
+    // the trace is the sum of the diagonal elements; see
+    // http://mathworld.wolfram.com/MatrixTrace.html
+    float t = in->getRow(0).m_floats[0] + in->getRow(1).m_floats[1] + in->getRow(2).m_floats[2];
+    float w, x, y, z;
+    // we protect the division by s by ensuring that s>=1
+    if (t >= 0) { // |w| >= .5
+        float s = sqrt(t + 1); // |s|>=1 ...
+        w = 0.5f * s;
+        s = 0.5f / s; // so this division isn't bad
+        x = (in->getRow(2).m_floats[1] - in->getRow(1).m_floats[2]) * s;
+        y = (in->getRow(0).m_floats[2] - in->getRow(2).m_floats[0]) * s;
+        z = (in->getRow(1).m_floats[0] - in->getRow(0).m_floats[1]) * s;
+    } else if ((in->getRow(0).m_floats[0] > in->getRow(1).m_floats[1]) && (in->getRow(0).m_floats[0] > in->getRow(2).m_floats[2])) {
+        float s = sqrt(1.0f + in->getRow(0).m_floats[0] - in->getRow(1).m_floats[1] - in->getRow(2).m_floats[2]); // |s|>=1
+        x = s * 0.5f; // |x| >= .5
+        s = 0.5f / s;
+        y = (in->getRow(1).m_floats[0] + in->getRow(0).m_floats[1]) * s;
+        z = (in->getRow(0).m_floats[2] + in->getRow(2).m_floats[0]) * s;
+        w = (in->getRow(2).m_floats[1] - in->getRow(1).m_floats[2]) * s;
+    } else if (in->getRow(1).m_floats[1] > in->getRow(2).m_floats[2]) {
+        float s = sqrt(1.0f + in->getRow(1).m_floats[1] - in->getRow(0).m_floats[0] - in->getRow(2).m_floats[2]); // |s|>=1
+        y = s * 0.5f; // |y| >= .5
+        s = 0.5f / s;
+        x = (in->getRow(1).m_floats[0] + in->getRow(0).m_floats[1]) * s;
+        z = (in->getRow(2).m_floats[1] + in->getRow(1).m_floats[2]) * s;
+        w = (in->getRow(0).m_floats[2] - in->getRow(2).m_floats[0]) * s;
+    } else {
+        float s = sqrt(1.0f + in->getRow(2).m_floats[2] - in->getRow(0).m_floats[0] - in->getRow(1).m_floats[1]); // |s|>=1
+        z = s * 0.5f; // |z| >= .5
+        s = 0.5f / s;
+        x = (in->getRow(0).m_floats[2] + in->getRow(2).m_floats[0]) * s;
+        y = (in->getRow(2).m_floats[1] + in->getRow(1).m_floats[2]) * s;
+        w = (in->getRow(1).m_floats[0] - in->getRow(0).m_floats[1]) * s;
+    }
+
+    env->SetFloatField(out, jmeClasses::Quaternion_x, x);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    env->SetFloatField(out, jmeClasses::Quaternion_y, y);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    env->SetFloatField(out, jmeClasses::Quaternion_z, z);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    env->SetFloatField(out, jmeClasses::Quaternion_w, w);
+//    env->CallObjectMethod(out, jmeClasses::Quaternion_set, x, y, z, w);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+}

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/jmeBulletUtil.h b/extensions/gdx-bullet/jni/src/mikumikustudio/jmeBulletUtil.h
new file mode 100644 (file)
index 0000000..937eca1
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/jmeBulletUtil.h
@@ -0,0 +1,52 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#include "jmeClasses.h"
+#include "btBulletDynamicsCommon.h"
+#include "btBulletCollisionCommon.h"
+#include "LinearMath/btVector3.h"
+
+/**
+ * Author: Normen Hansen
+ */
+class jmeBulletUtil{
+public:
+    static void convert(JNIEnv* env, jobject in, btVector3* out);
+    static void convert(JNIEnv* env, const btVector3* in, jobject out);
+    static void convert(JNIEnv* env, jobject in, btMatrix3x3* out);
+    static void convert(JNIEnv* env, const btMatrix3x3* in, jobject out);
+    static void convertQuat(JNIEnv* env, jobject in, btMatrix3x3* out);
+    static void convertQuat(JNIEnv* env, const btMatrix3x3* in, jobject out);
+private:
+    jmeBulletUtil(){};
+    ~jmeBulletUtil(){};
+    
+};

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/jmeClasses.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/jmeClasses.cpp
new file mode 100644 (file)
index 0000000..0f72a39
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/jmeClasses.cpp
@@ -0,0 +1,195 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#include "jmeClasses.h"
+#include <stdio.h>
+
+/**
+ * Author: Normen Hansen
+ */
+//public fields
+jclass jmeClasses::PhysicsSpace;
+jmethodID jmeClasses::PhysicsSpace_preTick;
+jmethodID jmeClasses::PhysicsSpace_postTick;
+jmethodID jmeClasses::PhysicsSpace_addCollisionEvent;
+
+jclass jmeClasses::PhysicsGhostObject;
+jmethodID jmeClasses::PhysicsGhostObject_addOverlappingObject;
+
+jclass jmeClasses::Vector3f;
+jmethodID jmeClasses::Vector3f_set;
+jmethodID jmeClasses::Vector3f_toArray;
+jmethodID jmeClasses::Vector3f_getX;
+jmethodID jmeClasses::Vector3f_getY;
+jmethodID jmeClasses::Vector3f_getZ;
+jfieldID jmeClasses::Vector3f_x;
+jfieldID jmeClasses::Vector3f_y;
+jfieldID jmeClasses::Vector3f_z;
+
+jclass jmeClasses::Quaternion;
+jmethodID jmeClasses::Quaternion_set;
+jmethodID jmeClasses::Quaternion_getX;
+jmethodID jmeClasses::Quaternion_getY;
+jmethodID jmeClasses::Quaternion_getZ;
+jmethodID jmeClasses::Quaternion_getW;
+jfieldID jmeClasses::Quaternion_x;
+jfieldID jmeClasses::Quaternion_y;
+jfieldID jmeClasses::Quaternion_z;
+jfieldID jmeClasses::Quaternion_w;
+
+jclass jmeClasses::Matrix3f;
+jmethodID jmeClasses::Matrix3f_set;
+jmethodID jmeClasses::Matrix3f_get;
+jfieldID jmeClasses::Matrix3f_m00;
+jfieldID jmeClasses::Matrix3f_m01;
+jfieldID jmeClasses::Matrix3f_m02;
+jfieldID jmeClasses::Matrix3f_m10;
+jfieldID jmeClasses::Matrix3f_m11;
+jfieldID jmeClasses::Matrix3f_m12;
+jfieldID jmeClasses::Matrix3f_m20;
+jfieldID jmeClasses::Matrix3f_m21;
+jfieldID jmeClasses::Matrix3f_m22;
+
+jclass jmeClasses::DebugMeshCallback;
+jmethodID jmeClasses::DebugMeshCallback_addVector;
+
+//private fields
+//JNIEnv* jmeClasses::env;
+JavaVM* jmeClasses::vm;
+
+void jmeClasses::initJavaClasses(JNIEnv* env) {
+//    if (env != NULL) {
+//        fprintf(stdout, "Check Java VM state\n");
+//        fflush(stdout);
+//        int res = vm->AttachCurrentThread((void**) &jmeClasses::env, NULL);
+//        if (res < 0) {
+//            fprintf(stdout, "** ERROR: getting Java env!\n");
+//            if (res == JNI_EVERSION) fprintf(stdout, "GetEnv Error because of different JNI Version!\n");
+//            fflush(stdout);
+//        }
+//        return;
+//    }
+    if(PhysicsSpace!=NULL) return;
+    fprintf(stdout, "Bullet-Native: Initializing java classes\n");
+    fflush(stdout);
+//    jmeClasses::env = env;
+    env->GetJavaVM(&vm);
+
+    PhysicsSpace = env->FindClass("com/jme3/bullet/PhysicsSpace");
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+
+    PhysicsSpace_preTick = env->GetMethodID(PhysicsSpace, "preTick_native", "(F)V");
+    PhysicsSpace_postTick = env->GetMethodID(PhysicsSpace, "postTick_native", "(F)V");
+    PhysicsSpace_addCollisionEvent = env->GetMethodID(PhysicsSpace, "addCollisionEvent","(Lcom/jme3/bullet/collision/PhysicsCollisionObject;Lcom/jme3/bullet/collision/PhysicsCollisionObject;J)V");
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    
+    PhysicsGhostObject = env->FindClass("com/jme3/bullet/objects/PhysicsGhostObject");
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    PhysicsGhostObject_addOverlappingObject = env->GetMethodID(PhysicsGhostObject, "addOverlappingObject","(Lcom/jme3/bullet/collision/PhysicsCollisionObject;)V");
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+
+    Vector3f = env->FindClass("com/jme3/math/Vector3f");
+    Vector3f_set = env->GetMethodID(Vector3f, "set", "(FFF)Lcom/jme3/math/Vector3f;");
+    Vector3f_toArray = env->GetMethodID(Vector3f, "toArray", "([F)[F");
+    Vector3f_getX = env->GetMethodID(Vector3f, "getX", "()F");
+    Vector3f_getY = env->GetMethodID(Vector3f, "getY", "()F");
+    Vector3f_getZ = env->GetMethodID(Vector3f, "getZ", "()F");
+    Vector3f_x = env->GetFieldID(Vector3f, "x", "F");
+    Vector3f_y = env->GetFieldID(Vector3f, "y", "F");
+    Vector3f_z = env->GetFieldID(Vector3f, "z", "F");
+
+    Quaternion = env->FindClass("com/jme3/math/Quaternion");
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    Quaternion_set = env->GetMethodID(Quaternion, "set", "(FFFF)Lcom/jme3/math/Quaternion;");
+    Quaternion_getW = env->GetMethodID(Quaternion, "getW", "()F");
+    Quaternion_getX = env->GetMethodID(Quaternion, "getX", "()F");
+    Quaternion_getY = env->GetMethodID(Quaternion, "getY", "()F");
+    Quaternion_getZ = env->GetMethodID(Quaternion, "getZ", "()F");
+    Quaternion_x = env->GetFieldID(Quaternion, "x", "F");
+    Quaternion_y = env->GetFieldID(Quaternion, "y", "F");
+    Quaternion_z = env->GetFieldID(Quaternion, "z", "F");
+    Quaternion_w = env->GetFieldID(Quaternion, "w", "F");
+
+    Matrix3f = env->FindClass("com/jme3/math/Matrix3f");
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    Matrix3f_set = env->GetMethodID(Matrix3f, "set", "(IIF)Lcom/jme3/math/Matrix3f;");
+    Matrix3f_get = env->GetMethodID(Matrix3f, "get", "(II)F");
+    Matrix3f_m00 = env->GetFieldID(Matrix3f, "m00", "F");
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    Matrix3f_m01 = env->GetFieldID(Matrix3f, "m01", "F");
+    Matrix3f_m02 = env->GetFieldID(Matrix3f, "m02", "F");
+    Matrix3f_m10 = env->GetFieldID(Matrix3f, "m10", "F");
+    Matrix3f_m11 = env->GetFieldID(Matrix3f, "m11", "F");
+    Matrix3f_m12 = env->GetFieldID(Matrix3f, "m12", "F");
+    Matrix3f_m20 = env->GetFieldID(Matrix3f, "m20", "F");
+    Matrix3f_m21 = env->GetFieldID(Matrix3f, "m21", "F");
+    Matrix3f_m22 = env->GetFieldID(Matrix3f, "m22", "F");
+
+    DebugMeshCallback = env->FindClass("com/jme3/bullet/util/DebugMeshCallback");
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    
+    DebugMeshCallback_addVector = env->GetMethodID(DebugMeshCallback, "addVector", "(FFFII)V");
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+}
+
+void jmeClasses::throwNPE(JNIEnv* env) {
+    if (env == NULL) return;
+    jclass newExc = env->FindClass("java/lang/NullPointerException");
+    env->ThrowNew(newExc, "");
+    return;
+}

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/jmeClasses.h b/extensions/gdx-bullet/jni/src/mikumikustudio/jmeClasses.h
new file mode 100644 (file)
index 0000000..ba1dee1
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/jmeClasses.h
@@ -0,0 +1,91 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#include <jni.h>
+
+/**
+ * Author: Normen Hansen
+ */
+
+class jmeClasses {
+public:
+    static void initJavaClasses(JNIEnv* env);
+//    static JNIEnv* env;
+    static JavaVM* vm;
+    static jclass PhysicsSpace;
+    static jmethodID PhysicsSpace_preTick;
+    static jmethodID PhysicsSpace_postTick;
+    static jmethodID PhysicsSpace_addCollisionEvent;
+    static jclass PhysicsGhostObject;
+    static jmethodID PhysicsGhostObject_addOverlappingObject;
+
+    static jclass Vector3f;
+    static jmethodID Vector3f_set;
+    static jmethodID Vector3f_getX;
+    static jmethodID Vector3f_getY;
+    static jmethodID Vector3f_getZ;
+    static jmethodID Vector3f_toArray;
+    static jfieldID Vector3f_x;
+    static jfieldID Vector3f_y;
+    static jfieldID Vector3f_z;
+    
+    static jclass Quaternion;
+    static jmethodID Quaternion_set;
+    static jmethodID Quaternion_getX;
+    static jmethodID Quaternion_getY;
+    static jmethodID Quaternion_getZ;
+    static jmethodID Quaternion_getW;
+    static jfieldID Quaternion_x;
+    static jfieldID Quaternion_y;
+    static jfieldID Quaternion_z;
+    static jfieldID Quaternion_w;
+
+    static jclass Matrix3f;
+    static jmethodID Matrix3f_get;
+    static jmethodID Matrix3f_set;
+    static jfieldID Matrix3f_m00;
+    static jfieldID Matrix3f_m01;
+    static jfieldID Matrix3f_m02;
+    static jfieldID Matrix3f_m10;
+    static jfieldID Matrix3f_m11;
+    static jfieldID Matrix3f_m12;
+    static jfieldID Matrix3f_m20;
+    static jfieldID Matrix3f_m21;
+    static jfieldID Matrix3f_m22;
+
+    static jclass DebugMeshCallback;
+    static jmethodID DebugMeshCallback_addVector;
+
+    static void throwNPE(JNIEnv* env);
+private:
+    jmeClasses(){};
+    ~jmeClasses(){};
+};

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/jmeMotionState.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/jmeMotionState.cpp
new file mode 100644 (file)
index 0000000..0c61f9b
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/jmeMotionState.cpp
@@ -0,0 +1,89 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#include "jmeMotionState.h"
+#include "jmeBulletUtil.h"
+
+/**
+ * Author: Normen Hansen
+ */
+
+jmeMotionState::jmeMotionState() {
+    trans = new btTransform();
+    trans -> setIdentity();
+    worldTransform = *trans;
+    dirty = true;
+}
+
+void jmeMotionState::getWorldTransform(btTransform& worldTrans) const {
+    worldTrans = worldTransform;
+}
+
+void jmeMotionState::setWorldTransform(const btTransform& worldTrans) {
+    worldTransform = worldTrans;
+    dirty = true;
+}
+
+void jmeMotionState::setKinematicTransform(const btTransform& worldTrans) {
+    worldTransform = worldTrans;
+    dirty = true;
+}
+
+void jmeMotionState::setKinematicLocation(JNIEnv* env, jobject location) {
+    jmeBulletUtil::convert(env, location, &worldTransform.getOrigin());
+    dirty = true;
+}
+
+void jmeMotionState::setKinematicRotation(JNIEnv* env, jobject rotation) {
+    jmeBulletUtil::convert(env, rotation, &worldTransform.getBasis());
+    dirty = true;
+}
+
+void jmeMotionState::setKinematicRotationQuat(JNIEnv* env, jobject rotation) {
+    jmeBulletUtil::convertQuat(env, rotation, &worldTransform.getBasis());
+    dirty = true;
+}
+
+bool jmeMotionState::applyTransform(JNIEnv* env, jobject location, jobject rotation) {
+    if (dirty) {
+        //        fprintf(stdout, "Apply world translation\n");
+        //        fflush(stdout);
+        jmeBulletUtil::convert(env, &worldTransform.getOrigin(), location);
+        jmeBulletUtil::convertQuat(env, &worldTransform.getBasis(), rotation);
+        dirty = false;
+        return true;
+    }
+    return false;
+}
+
+jmeMotionState::~jmeMotionState() {
+    free(trans);
+}

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/jmeMotionState.h b/extensions/gdx-bullet/jni/src/mikumikustudio/jmeMotionState.h
new file mode 100644 (file)
index 0000000..b9e6ebb
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/jmeMotionState.h
@@ -0,0 +1,57 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#include <jni.h>
+
+/**
+ * Author: Normen Hansen
+ */
+
+#include "btBulletDynamicsCommon.h"
+//#include "btBulletCollisionCommon.h"
+
+class jmeMotionState : public btMotionState {
+private:
+    bool dirty;
+    btTransform* trans;
+public:
+    jmeMotionState();
+    virtual ~jmeMotionState();
+
+    btTransform worldTransform;
+    virtual void getWorldTransform(btTransform& worldTrans) const;
+    virtual void setWorldTransform(const btTransform& worldTrans);
+    void setKinematicTransform(const btTransform& worldTrans);
+    void setKinematicLocation(JNIEnv*, jobject);
+    void setKinematicRotation(JNIEnv*, jobject);
+    void setKinematicRotationQuat(JNIEnv*, jobject);
+    bool applyTransform(JNIEnv* env, jobject location, jobject rotation);
+};

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/jmePhysicsSpace.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/jmePhysicsSpace.cpp
new file mode 100644 (file)
index 0000000..f5a2d9a
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/jmePhysicsSpace.cpp
@@ -0,0 +1,289 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#include "jmePhysicsSpace.h"
+#include "jmeBulletUtil.h"
+#include "jmeUserPointer.h"
+#include <stdio.h>
+/**
+ * Author: Normen Hansen
+ */
+jmePhysicsSpace::jmePhysicsSpace(JNIEnv* env, jobject javaSpace) {
+fprintf(stderr, "jmePhysicsSpace(JNIEnv* env, jobject javaSpace)\n");
+fflush(stderr);
+    //TODO: global ref? maybe not -> cleaning, rather callback class?
+    this->javaPhysicsSpace = env->NewGlobalRef(javaSpace);
+fprintf(stderr, "env->NewWeakGlobalRef(javaSpace)\n");
+fflush(stderr);
+    if (env->ExceptionCheck()) {
+fprintf(stderr, "env->ExceptionCheck() error\n");
+fflush(stderr);
+        //env->Throw(env->ExceptionOccurred());
+        return;
+    }
+    this->env = env;
+fprintf(stderr, "env->GetJavaVM(&vm)\n");
+fflush(stderr);
+    env->GetJavaVM(&vm);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+}
+
+void jmePhysicsSpace::attachThread() {
+#ifdef ANDROID
+    vm->AttachCurrentThread(&env, NULL);
+#else
+    vm->AttachCurrentThread((void **)&env, NULL);
+#endif
+}
+
+JNIEnv* jmePhysicsSpace::getEnv() {
+    attachThread();
+    return this->env;
+}
+
+void jmePhysicsSpace::stepSimulation(jfloat tpf, jint maxSteps, jfloat accuracy) {
+    dynamicsWorld->stepSimulation(tpf, maxSteps, accuracy);
+}
+
+btThreadSupportInterface* jmePhysicsSpace::createSolverThreadSupport(int maxNumThreads) {
+#ifdef _WIN32
+    Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("solverThreads", SolverThreadFunc, SolverlsMemoryFunc, maxNumThreads);
+    Win32ThreadSupport* threadSupport = new Win32ThreadSupport(threadConstructionInfo);
+    threadSupport->startSPU();
+#elif defined (USE_PTHREADS)
+    PosixThreadSupport::ThreadConstructionInfo constructionInfo("collision", SolverThreadFunc,
+            SolverlsMemoryFunc, maxNumThreads);
+    PosixThreadSupport* threadSupport = new PosixThreadSupport(constructionInfo);
+    threadSupport->startSPU();
+#else
+    SequentialThreadSupport::SequentialThreadConstructionInfo tci("solverThreads", SolverThreadFunc, SolverlsMemoryFunc);
+    SequentialThreadSupport* threadSupport = new SequentialThreadSupport(tci);
+    threadSupport->startSPU();
+#endif
+    return threadSupport;
+}
+
+btThreadSupportInterface* jmePhysicsSpace::createDispatchThreadSupport(int maxNumThreads) {
+#ifdef _WIN32
+    Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("solverThreads", processCollisionTask, createCollisionLocalStoreMemory, maxNumThreads);
+    Win32ThreadSupport* threadSupport = new Win32ThreadSupport(threadConstructionInfo);
+    threadSupport->startSPU();
+#elif defined (USE_PTHREADS)
+    PosixThreadSupport::ThreadConstructionInfo solverConstructionInfo("solver", processCollisionTask,
+            createCollisionLocalStoreMemory, maxNumThreads);
+    PosixThreadSupport* threadSupport = new PosixThreadSupport(solverConstructionInfo);
+    threadSupport->startSPU();
+#else
+    SequentialThreadSupport::SequentialThreadConstructionInfo tci("solverThreads", processCollisionTask, createCollisionLocalStoreMemory);
+    SequentialThreadSupport* threadSupport = new SequentialThreadSupport(tci);
+    threadSupport->startSPU();
+#endif
+    return threadSupport;
+}
+
+void jmePhysicsSpace::createPhysicsSpace(jfloat minX, jfloat minY, jfloat minZ, jfloat maxX, jfloat maxY, jfloat maxZ, jint broadphaseId, jboolean threading) {
+    // collision configuration contains default setup for memory, collision setup
+    btDefaultCollisionConstructionInfo cci;
+    //    if(threading){
+    //        cci.m_defaultMaxPersistentManifoldPoolSize = 32768;
+    //    }
+    collisionConfiguration = new btDefaultCollisionConfiguration(cci);
+
+    btVector3 min = btVector3(minX, minY, minZ);
+    btVector3 max = btVector3(maxX, maxY, maxZ);
+
+    // btBroadphaseInterface* broadphase;
+
+    switch (broadphaseId) {
+        case 0:
+            broadphase = new btSimpleBroadphase();
+            break;
+        case 1:
+            broadphase = new btAxisSweep3(min, max);
+            break;
+        case 2:
+            //TODO: 32bit!
+            broadphase = new btAxisSweep3(min, max);
+            break;
+        case 3:
+            broadphase = new btDbvtBroadphase();
+            break;
+        case 4:
+            //            broadphase = new btGpu3DGridBroadphase(
+            //                    min, max,
+            //                    20, 20, 20,
+            //                    10000, 1000, 25);
+            break;
+    }
+
+    // btCollisionDispatcher* dispatcher;
+    // btConstraintSolver* solver;
+    // use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+    if (threading) {
+        btThreadSupportInterface* dispatchThreads = createDispatchThreadSupport(4);
+        dispatcher = new SpuGatheringCollisionDispatcher(dispatchThreads, 4, collisionConfiguration);
+        dispatcher->setDispatcherFlags(btCollisionDispatcher::CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
+    } else {
+        dispatcher = new btCollisionDispatcher(collisionConfiguration);
+    }
+
+    // the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
+    if (threading) {
+        btThreadSupportInterface* solverThreads = createSolverThreadSupport(4);
+        solver = new btParallelConstraintSolver(solverThreads);
+    } else {
+        solver = new btSequentialImpulseConstraintSolver;
+    }
+
+    //create dynamics world
+    btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
+    dynamicsWorld = world;
+    dynamicsWorld->setWorldUserInfo(this);
+
+    //parallel solver requires the contacts to be in a contiguous pool, so avoid dynamic allocation
+    if (threading) {
+        world->getSimulationIslandManager()->setSplitIslands(false);
+        world->getSolverInfo().m_numIterations = 4;
+        world->getSolverInfo().m_solverMode = SOLVER_SIMD + SOLVER_USE_WARMSTARTING; //+SOLVER_RANDMIZE_ORDER;
+        world->getDispatchInfo().m_enableSPU = true;
+    }
+    ghostPairCallback = new btGhostPairCallback();
+    broadphase->getOverlappingPairCache()->setInternalGhostPairCallback(ghostPairCallback);
+
+    dynamicsWorld->setGravity(btVector3(0, -9.81f, 0));
+
+    struct jmeFilterCallback : public btOverlapFilterCallback {
+        // return true when pairs need collision
+
+        virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy * proxy1) const {
+//            bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
+//            collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
+            bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
+            collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
+            if (collides) {
+                btCollisionObject* co0 = (btCollisionObject*)proxy0->m_clientObject;
+                btCollisionObject* co1 = (btCollisionObject*)proxy1->m_clientObject;
+                jmeUserPointer *up0 = (jmeUserPointer*)co0 -> getUserPointer(); 
+                jmeUserPointer *up1 = (jmeUserPointer*)co1 -> getUserPointer(); 
+                if (up0 != NULL && up1 != NULL) {
+                    collides = (up0->group & up1->groups) != 0;
+                    collides = collides && (up1->group & up0->groups);
+
+                    //add some additional logic here that modified 'collides'
+                    return collides;
+                }
+                return false;
+            }
+            return collides;
+        }
+    };
+    dynamicsWorld->getPairCache()->setOverlapFilterCallback(new jmeFilterCallback());
+    dynamicsWorld->setInternalTickCallback(&jmePhysicsSpace::preTickCallback, static_cast<void *> (this), true);
+    dynamicsWorld->setInternalTickCallback(&jmePhysicsSpace::postTickCallback, static_cast<void *> (this));
+    if (gContactProcessedCallback == NULL) {
+        gContactProcessedCallback = &jmePhysicsSpace::contactProcessedCallback;
+    }
+}
+
+void jmePhysicsSpace::preTickCallback(btDynamicsWorld *world, btScalar timeStep) {
+    jmePhysicsSpace* dynamicsWorld = (jmePhysicsSpace*) world->getWorldUserInfo();
+    JNIEnv* env = dynamicsWorld->getEnv();
+    jobject javaPhysicsSpace = env->NewLocalRef(dynamicsWorld->getJavaPhysicsSpace());
+    if (javaPhysicsSpace != NULL) {
+        env->CallVoidMethod(javaPhysicsSpace, jmeClasses::PhysicsSpace_preTick, timeStep);
+        env->DeleteLocalRef(javaPhysicsSpace);
+        if (env->ExceptionCheck()) {
+            env->Throw(env->ExceptionOccurred());
+            return;
+        }
+    }
+}
+
+void jmePhysicsSpace::postTickCallback(btDynamicsWorld *world, btScalar timeStep) {
+    jmePhysicsSpace* dynamicsWorld = (jmePhysicsSpace*) world->getWorldUserInfo();
+    JNIEnv* env = dynamicsWorld->getEnv();
+    jobject javaPhysicsSpace = env->NewLocalRef(dynamicsWorld->getJavaPhysicsSpace());
+    if (javaPhysicsSpace != NULL) {
+        env->CallVoidMethod(javaPhysicsSpace, jmeClasses::PhysicsSpace_postTick, timeStep);
+        env->DeleteLocalRef(javaPhysicsSpace);
+        if (env->ExceptionCheck()) {
+            env->Throw(env->ExceptionOccurred());
+            return;
+        }
+    }
+}
+bool jmePhysicsSpace::contactProcessedCallback(btManifoldPoint &cp, void *body0, void *body1) {
+//    printf("contactProcessedCallback %d %d\n", body0, body1);
+    btCollisionObject* co0 = (btCollisionObject*)body0;
+    jmeUserPointer *up0 = (jmeUserPointer*)co0 -> getUserPointer();
+    btCollisionObject* co1 = (btCollisionObject*)body1;
+    jmeUserPointer *up1 = (jmeUserPointer*)co1 -> getUserPointer();
+    if (up0 != NULL) {
+        jmePhysicsSpace *dynamicsWorld = up0->space;
+        if (dynamicsWorld != NULL) {
+            JNIEnv* env = dynamicsWorld->getEnv();
+            jobject javaPhysicsSpace = env->NewLocalRef(dynamicsWorld->getJavaPhysicsSpace());
+            if (javaPhysicsSpace != NULL) {
+                jobject javaCollisionObject0 = env->NewLocalRef(up0->javaCollisionObject);
+                jobject javaCollisionObject1 = env->NewLocalRef(up1->javaCollisionObject);
+                env->CallVoidMethod(javaPhysicsSpace, jmeClasses::PhysicsSpace_addCollisionEvent, javaCollisionObject0, javaCollisionObject1, reinterpret_cast<jlong>(&cp));
+                env->DeleteLocalRef(javaPhysicsSpace);
+                env->DeleteLocalRef(javaCollisionObject0);
+                env->DeleteLocalRef(javaCollisionObject1);
+                if (env->ExceptionCheck()) {
+                    env->Throw(env->ExceptionOccurred());
+                    return true;
+                }
+            }
+        }
+    }
+    return true;
+}
+btDynamicsWorld* jmePhysicsSpace::getDynamicsWorld() {
+    return dynamicsWorld;
+}
+
+jobject jmePhysicsSpace::getJavaPhysicsSpace() {
+    return javaPhysicsSpace;
+}
+
+jmePhysicsSpace::~jmePhysicsSpace() {
+    delete dispatcher;
+    delete solver;
+    delete broadphase;
+    delete collisionConfiguration;
+    delete ghostPairCallback;
+    delete(dynamicsWorld);
+    getEnv()->DeleteGlobalRef(this->javaPhysicsSpace);
+}

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/jmePhysicsSpace.h b/extensions/gdx-bullet/jni/src/mikumikustudio/jmePhysicsSpace.h
new file mode 100644 (file)
index 0000000..9dcc206
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/jmePhysicsSpace.h
@@ -0,0 +1,83 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#include <jni.h>
+#include "btBulletDynamicsCommon.h"
+#include "btBulletCollisionCommon.h"
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionDispatch/btGhostObject.h"
+#include "BulletDynamics/Character/btKinematicCharacterController.h"
+#ifdef _WIN32
+#include "BulletMultiThreaded/Win32ThreadSupport.h"
+#else
+#include "BulletMultiThreaded/PosixThreadSupport.h"
+#endif
+#include "BulletMultiThreaded/btParallelConstraintSolver.h"
+#include "BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
+#include "BulletMultiThreaded/SpuCollisionTaskProcess.h"
+#include "BulletMultiThreaded/SequentialThreadSupport.h"
+#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
+#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
+#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
+
+/**
+ * Author: Normen Hansen
+ */
+class jmePhysicsSpace {
+private:
+       JNIEnv* env;
+       JavaVM* vm;
+       btDynamicsWorld* dynamicsWorld;
+
+        btCollisionDispatcher* dispatcher;
+        btConstraintSolver* solver;
+        btBroadphaseInterface* broadphase;
+        btCollisionConfiguration* collisionConfiguration;
+        btOverlappingPairCallback *ghostPairCallback;
+
+       jobject javaPhysicsSpace;
+        btThreadSupportInterface* createSolverThreadSupport(int);
+        btThreadSupportInterface* createDispatchThreadSupport(int);
+        void attachThread();
+public:
+       jmePhysicsSpace(){};
+       ~jmePhysicsSpace();
+        jmePhysicsSpace(JNIEnv*, jobject);
+       void stepSimulation(jfloat, jint, jfloat);
+        void createPhysicsSpace(jfloat, jfloat, jfloat, jfloat, jfloat, jfloat, jint, jboolean);
+        btDynamicsWorld* getDynamicsWorld();
+        jobject getJavaPhysicsSpace();
+        JNIEnv* getEnv();
+        static void preTickCallback(btDynamicsWorld*, btScalar);
+        static void postTickCallback(btDynamicsWorld*, btScalar);
+        static bool contactProcessedCallback(btManifoldPoint &, void *, void *);
+};

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/jmeUserPointer.h b/extensions/gdx-bullet/jni/src/mikumikustudio/jmeUserPointer.h
new file mode 100644 (file)
index 0000000..13fc7ac
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/jmeUserPointer.h
@@ -0,0 +1,11 @@
+#ifndef _Included_jmeUserPointer
+#define _Included_jmeUserPointer
+#include <jni.h>
+class jmeUserPointer {
+public:
+    jobject javaCollisionObject;
+    jint group;
+    jint groups;
+    jmePhysicsSpace *space;
+};
+#endif

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/nativeclasses.txt b/extensions/gdx-bullet/jni/src/mikumikustudio/nativeclasses.txt
new file mode 100644 (file)
index 0000000..cf6bcc6
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/nativeclasses.txt
@@ -0,0 +1,6 @@
+Classes that differ from the jbullet implementation:
+- com.jme3.bullet.PhysicsSpace
+- com.jme3.bullet.collision.PhysicsCollisionObject
+- All classes in com.jme3.bullet.objects
+- All classes in com.jme3.bullet.joints
+- All classes in com.jme3.bullet.collision.shapes

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/projectkyoto_jme3_mmd_nativelib_SkinUtil.cpp b/extensions/gdx-bullet/jni/src/mikumikustudio/projectkyoto_jme3_mmd_nativelib_SkinUtil.cpp
new file mode 100644 (file)
index 0000000..18b78d1
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/projectkyoto_jme3_mmd_nativelib_SkinUtil.cpp
@@ -0,0 +1,62 @@
+#include "projectkyoto_jme3_mmd_nativelib_SkinUtil.h"
+#include <memory.h>
+#include <string.h>
+#include <math.h>
+/*
+ * Class:     projectkyoto_jme3_mmd_SkinUtil
+ * Method:    copy
+ * Signature: (Ljava/nio/Buffer;Ljava/nio/Buffer;I)V
+ */
+JNIEXPORT void JNICALL Java_projectkyoto_jme3_mmd_nativelib_SkinUtil_copy
+  (JNIEnv *env, jclass clazz, jobject src, jobject dist, jint size) {
+    memcpy(env->GetDirectBufferAddress(dist), env->GetDirectBufferAddress(src), size);
+}
+
+/*
+ * Class:     projectkyoto_jme3_mmd_nativelib_SkinUtil
+ * Method:    setSkin
+ * Signature: (Ljava/nio/FloatBuffer;Ljava/nio/ShortBuffer;Ljava/nio/FloatBuffer;F)V
+ */
+JNIEXPORT void JNICALL Java_projectkyoto_jme3_mmd_nativelib_SkinUtil_setSkin
+  (JNIEnv *env, jclass clazz, jobject buf, jobject indexBuf, jobject skinBuf, jfloat weight) {
+    jfloat *dist = (jfloat *)env->GetDirectBufferAddress(buf);
+    jshort *ip = (jshort *)env->GetDirectBufferAddress(indexBuf);
+    jfloat *skin = (jfloat *)env->GetDirectBufferAddress(skinBuf);
+    jlong size = env->GetDirectBufferCapacity(indexBuf);
+    for(int i=0;i<size;i++) {
+        int index = ip[i];
+        jfloat *p1 = &dist[index * 3];
+        jfloat *p2 = &skin[i * 3];
+        *p1 = *p1 + *p2 * weight;
+        p1++;
+        p2++;
+        *p1 = *p1 + *p2 * weight;
+        p1++;
+        p2++;
+        *p1 = *p1 + *p2 * weight;
+    }
+}
+JNIEXPORT void JNICALL Java_projectkyoto_jme3_mmd_nativelib_SkinUtil_copyBoneMatrix
+  (JNIEnv *env, jclass clazz, jobject srcBuf, jobject distBuf, jobject indexBuf) {
+    jfloat *src = (jfloat *)env->GetDirectBufferAddress(srcBuf);
+    jfloat *dist = (jfloat *)env->GetDirectBufferAddress(distBuf);
+    jshort *index = (jshort *)env->GetDirectBufferAddress(indexBuf);
+    jlong size = env->GetDirectBufferCapacity(indexBuf);
+    jfloat *p = dist;
+    for(int i=0;i<size;i++) {
+        memcpy(p, src + index[i] * 16, sizeof(jfloat) * 16);
+        p += 16;
+    }
+}
+/*
+ * Class:     projectkyoto_jme3_mmd_nativelib_SkinUtil
+ * Method:    clear
+ * Signature: (Ljava/nio/Buffer;)V
+ */
+JNIEXPORT void JNICALL Java_projectkyoto_jme3_mmd_nativelib_SkinUtil_clear
+  (JNIEnv *env, jclass clazz, jobject buf) {
+    jfloat *src = (jfloat *)env->GetDirectBufferAddress(buf);
+    jlong size = env->GetDirectBufferCapacity(buf);
+    memset(src, 0, size);
+}
+

diff --git a/extensions/gdx-bullet/jni/src/mikumikustudio/projectkyoto_jme3_mmd_nativelib_SkinUtil.h b/extensions/gdx-bullet/jni/src/mikumikustudio/projectkyoto_jme3_mmd_nativelib_SkinUtil.h
new file mode 100644 (file)
index 0000000..00f600e
--- /dev/null
+++ b/extensions/gdx-bullet/jni/src/mikumikustudio/projectkyoto_jme3_mmd_nativelib_SkinUtil.h
@@ -0,0 +1,45 @@
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class projectkyoto_jme3_mmd_nativelib_SkinUtil */
+
+#ifndef _Included_projectkyoto_jme3_mmd_nativelib_SkinUtil
+#define _Included_projectkyoto_jme3_mmd_nativelib_SkinUtil
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     projectkyoto_jme3_mmd_nativelib_SkinUtil
+ * Method:    copy
+ * Signature: (Ljava/nio/Buffer;Ljava/nio/Buffer;I)V
+ */
+JNIEXPORT void JNICALL Java_projectkyoto_jme3_mmd_nativelib_SkinUtil_copy
+  (JNIEnv *, jclass, jobject, jobject, jint);
+
+/*
+ * Class:     projectkyoto_jme3_mmd_nativelib_SkinUtil
+ * Method:    setSkin
+ * Signature: (Ljava/nio/FloatBuffer;Ljava/nio/ShortBuffer;Ljava/nio/FloatBuffer;F)V
+ */
+JNIEXPORT void JNICALL Java_projectkyoto_jme3_mmd_nativelib_SkinUtil_setSkin
+  (JNIEnv *, jclass, jobject, jobject, jobject, jfloat);
+
+/*
+ * Class:     projectkyoto_jme3_mmd_nativelib_SkinUtil
+ * Method:    copyBoneMatrix
+ * Signature: (Ljava/nio/FloatBuffer;Ljava/nio/FloatBuffer;Ljava/nio/ShortBuffer;)V
+ */
+JNIEXPORT void JNICALL Java_projectkyoto_jme3_mmd_nativelib_SkinUtil_copyBoneMatrix
+  (JNIEnv *, jclass, jobject, jobject, jobject);
+
+/*
+ * Class:     projectkyoto_jme3_mmd_nativelib_SkinUtil
+ * Method:    clear
+ * Signature: (Ljava/nio/Buffer;)V
+ */
+JNIEXPORT void JNICALL Java_projectkyoto_jme3_mmd_nativelib_SkinUtil_clear
+  (JNIEnv *, jclass, jobject);
+
+#ifdef __cplusplus
+}
+#endif
+#endif