Remove unused Bullet module and thirdparty code

It has been disabled in `master` since one year (#45852) and our plan
is for Bullet, and possibly other thirdparty physics engines, to be
implemented via GDExtension so that they can be selected by the users
who need them.

26 files changed, 0 insertions, 5413 deletions

diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.cpp b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.cpp
deleted file mode 100644
index c0e11bfb26..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.cpp
+++ /dev/null
@@ -1,203 +0,0 @@
-/*
-Copyright (c) 2012 Advanced Micro Devices, 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.
-*/
-//Originally written by Takahiro Harada
-//Host-code rewritten by Erwin Coumans
-
-#define BOUNDSEARCH_PATH "src/Bullet3OpenCL/ParallelPrimitives/kernels/BoundSearchKernels.cl"
-#define KERNEL0 "SearchSortDataLowerKernel"
-#define KERNEL1 "SearchSortDataUpperKernel"
-#define KERNEL2 "SubtractKernel"
-
-#include "b3BoundSearchCL.h"
-#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
-#include "b3LauncherCL.h"
-#include "kernels/BoundSearchKernelsCL.h"
-
-b3BoundSearchCL::b3BoundSearchCL(cl_context ctx, cl_device_id device, cl_command_queue queue, int maxSize)
-	: m_context(ctx),
-	  m_device(device),
-	  m_queue(queue)
-{
-	const char* additionalMacros = "";
-	//const char* srcFileNameForCaching="";
-
-	cl_int pErrNum;
-	const char* kernelSource = boundSearchKernelsCL;
-
-	cl_program boundSearchProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, kernelSource, &pErrNum, additionalMacros, BOUNDSEARCH_PATH);
-	b3Assert(boundSearchProg);
-
-	m_lowerSortDataKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "SearchSortDataLowerKernel", &pErrNum, boundSearchProg, additionalMacros);
-	b3Assert(m_lowerSortDataKernel);
-
-	m_upperSortDataKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "SearchSortDataUpperKernel", &pErrNum, boundSearchProg, additionalMacros);
-	b3Assert(m_upperSortDataKernel);
-
-	m_subtractKernel = 0;
-
-	if (maxSize)
-	{
-		m_subtractKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "SubtractKernel", &pErrNum, boundSearchProg, additionalMacros);
-		b3Assert(m_subtractKernel);
-	}
-
-	//m_constBuffer = new b3OpenCLArray<b3Int4>( device, 1, BufferBase::BUFFER_CONST );
-
-	m_lower = (maxSize == 0) ? 0 : new b3OpenCLArray<unsigned int>(ctx, queue, maxSize);
-	m_upper = (maxSize == 0) ? 0 : new b3OpenCLArray<unsigned int>(ctx, queue, maxSize);
-
-	m_filler = new b3FillCL(ctx, device, queue);
-}
-
-b3BoundSearchCL::~b3BoundSearchCL()
-{
-	delete m_lower;
-	delete m_upper;
-	delete m_filler;
-
-	clReleaseKernel(m_lowerSortDataKernel);
-	clReleaseKernel(m_upperSortDataKernel);
-	clReleaseKernel(m_subtractKernel);
-}
-
-void b3BoundSearchCL::execute(b3OpenCLArray<b3SortData>& src, int nSrc, b3OpenCLArray<unsigned int>& dst, int nDst, Option option)
-{
-	b3Int4 constBuffer;
-	constBuffer.x = nSrc;
-	constBuffer.y = nDst;
-
-	if (option == BOUND_LOWER)
-	{
-		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(src.getBufferCL(), true), b3BufferInfoCL(dst.getBufferCL())};
-
-		b3LauncherCL launcher(m_queue, m_lowerSortDataKernel, "m_lowerSortDataKernel");
-		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(nSrc);
-		launcher.setConst(nDst);
-
-		launcher.launch1D(nSrc, 64);
-	}
-	else if (option == BOUND_UPPER)
-	{
-		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(src.getBufferCL(), true), b3BufferInfoCL(dst.getBufferCL())};
-
-		b3LauncherCL launcher(m_queue, m_upperSortDataKernel, "m_upperSortDataKernel");
-		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(nSrc);
-		launcher.setConst(nDst);
-
-		launcher.launch1D(nSrc, 64);
-	}
-	else if (option == COUNT)
-	{
-		b3Assert(m_lower);
-		b3Assert(m_upper);
-		b3Assert(m_lower->capacity() <= (int)nDst);
-		b3Assert(m_upper->capacity() <= (int)nDst);
-
-		int zero = 0;
-		m_filler->execute(*m_lower, zero, nDst);
-		m_filler->execute(*m_upper, zero, nDst);
-
-		execute(src, nSrc, *m_lower, nDst, BOUND_LOWER);
-		execute(src, nSrc, *m_upper, nDst, BOUND_UPPER);
-
-		{
-			b3BufferInfoCL bInfo[] = {b3BufferInfoCL(m_upper->getBufferCL(), true), b3BufferInfoCL(m_lower->getBufferCL(), true), b3BufferInfoCL(dst.getBufferCL())};
-
-			b3LauncherCL launcher(m_queue, m_subtractKernel, "m_subtractKernel");
-			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(nSrc);
-			launcher.setConst(nDst);
-
-			launcher.launch1D(nDst, 64);
-		}
-	}
-	else
-	{
-		b3Assert(0);
-	}
-}
-
-void b3BoundSearchCL::executeHost(b3AlignedObjectArray<b3SortData>& src, int nSrc,
-								  b3AlignedObjectArray<unsigned int>& dst, int nDst, Option option)
-{
-	for (int i = 0; i < nSrc - 1; i++)
-		b3Assert(src[i].m_key <= src[i + 1].m_key);
-
-	b3SortData minData, zeroData, maxData;
-	minData.m_key = -1;
-	minData.m_value = -1;
-	zeroData.m_key = 0;
-	zeroData.m_value = 0;
-	maxData.m_key = nDst;
-	maxData.m_value = nDst;
-
-	if (option == BOUND_LOWER)
-	{
-		for (int i = 0; i < nSrc; i++)
-		{
-			b3SortData& iData = (i == 0) ? minData : src[i - 1];
-			b3SortData& jData = (i == nSrc) ? maxData : src[i];
-
-			if (iData.m_key != jData.m_key)
-			{
-				int k = jData.m_key;
-				{
-					dst[k] = i;
-				}
-			}
-		}
-	}
-	else if (option == BOUND_UPPER)
-	{
-		for (int i = 1; i < nSrc + 1; i++)
-		{
-			b3SortData& iData = src[i - 1];
-			b3SortData& jData = (i == nSrc) ? maxData : src[i];
-
-			if (iData.m_key != jData.m_key)
-			{
-				int k = iData.m_key;
-				{
-					dst[k] = i;
-				}
-			}
-		}
-	}
-	else if (option == COUNT)
-	{
-		b3AlignedObjectArray<unsigned int> lower;
-		lower.resize(nDst);
-		b3AlignedObjectArray<unsigned int> upper;
-		upper.resize(nDst);
-
-		for (int i = 0; i < nDst; i++)
-		{
-			lower[i] = upper[i] = 0;
-		}
-
-		executeHost(src, nSrc, lower, nDst, BOUND_LOWER);
-		executeHost(src, nSrc, upper, nDst, BOUND_UPPER);
-
-		for (int i = 0; i < nDst; i++)
-		{
-			dst[i] = upper[i] - lower[i];
-		}
-	}
-	else
-	{
-		b3Assert(0);
-	}
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.h
deleted file mode 100644
index 0d633e3d23..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.h
+++ /dev/null
@@ -1,64 +0,0 @@
-/*
-Copyright (c) 2012 Advanced Micro Devices, 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.
-*/
-//Originally written by Takahiro Harada
-
-#ifndef B3_BOUNDSEARCH_H
-#define B3_BOUNDSEARCH_H
-
-#pragma once
-
-/*#include <Adl/Adl.h>
-#include <AdlPrimitives/Math/Math.h>
-#include <AdlPrimitives/Sort/SortData.h>
-#include <AdlPrimitives/Fill/Fill.h>
-*/
-
-#include "b3OpenCLArray.h"
-#include "b3FillCL.h"
-#include "b3RadixSort32CL.h"  //for b3SortData (perhaps move it?)
-class b3BoundSearchCL
-{
-public:
-	enum Option
-	{
-		BOUND_LOWER,
-		BOUND_UPPER,
-		COUNT,
-	};
-
-	cl_context m_context;
-	cl_device_id m_device;
-	cl_command_queue m_queue;
-
-	cl_kernel m_lowerSortDataKernel;
-	cl_kernel m_upperSortDataKernel;
-	cl_kernel m_subtractKernel;
-
-	b3OpenCLArray<b3Int4>* m_constbtOpenCLArray;
-	b3OpenCLArray<unsigned int>* m_lower;
-	b3OpenCLArray<unsigned int>* m_upper;
-
-	b3FillCL* m_filler;
-
-	b3BoundSearchCL(cl_context context, cl_device_id device, cl_command_queue queue, int size);
-
-	virtual ~b3BoundSearchCL();
-
-	//	src has to be src[i].m_key <= src[i+1].m_key
-	void execute(b3OpenCLArray<b3SortData>& src, int nSrc, b3OpenCLArray<unsigned int>& dst, int nDst, Option option = BOUND_LOWER);
-
-	void executeHost(b3AlignedObjectArray<b3SortData>& src, int nSrc, b3AlignedObjectArray<unsigned int>& dst, int nDst, Option option = BOUND_LOWER);
-};
-
-#endif  //B3_BOUNDSEARCH_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BufferInfoCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BufferInfoCL.h
deleted file mode 100644
index 35fc467b20..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BufferInfoCL.h
+++ /dev/null
@@ -1,18 +0,0 @@
-
-#ifndef B3_BUFFER_INFO_CL_H
-#define B3_BUFFER_INFO_CL_H
-
-#include "b3OpenCLArray.h"
-
-struct b3BufferInfoCL
-{
-	//b3BufferInfoCL(){}
-
-	//	template<typename T>
-	b3BufferInfoCL(cl_mem buff, bool isReadOnly = false) : m_clBuffer(buff), m_isReadOnly(isReadOnly) {}
-
-	cl_mem m_clBuffer;
-	bool m_isReadOnly;
-};
-
-#endif  //B3_BUFFER_INFO_CL_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3FillCL.cpp b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3FillCL.cpp
deleted file mode 100644
index bd25bb2101..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3FillCL.cpp
+++ /dev/null
@@ -1,119 +0,0 @@
-#include "b3FillCL.h"
-#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
-#include "b3BufferInfoCL.h"
-#include "b3LauncherCL.h"
-
-#define FILL_CL_PROGRAM_PATH "src/Bullet3OpenCL/ParallelPrimitives/kernels/FillKernels.cl"
-
-#include "kernels/FillKernelsCL.h"
-
-b3FillCL::b3FillCL(cl_context ctx, cl_device_id device, cl_command_queue queue)
-	: m_commandQueue(queue)
-{
-	const char* kernelSource = fillKernelsCL;
-	cl_int pErrNum;
-	const char* additionalMacros = "";
-
-	cl_program fillProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, kernelSource, &pErrNum, additionalMacros, FILL_CL_PROGRAM_PATH);
-	b3Assert(fillProg);
-
-	m_fillIntKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "FillIntKernel", &pErrNum, fillProg, additionalMacros);
-	b3Assert(m_fillIntKernel);
-
-	m_fillUnsignedIntKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "FillUnsignedIntKernel", &pErrNum, fillProg, additionalMacros);
-	b3Assert(m_fillIntKernel);
-
-	m_fillFloatKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "FillFloatKernel", &pErrNum, fillProg, additionalMacros);
-	b3Assert(m_fillFloatKernel);
-
-	m_fillKernelInt2 = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "FillInt2Kernel", &pErrNum, fillProg, additionalMacros);
-	b3Assert(m_fillKernelInt2);
-}
-
-b3FillCL::~b3FillCL()
-{
-	clReleaseKernel(m_fillKernelInt2);
-	clReleaseKernel(m_fillIntKernel);
-	clReleaseKernel(m_fillUnsignedIntKernel);
-	clReleaseKernel(m_fillFloatKernel);
-}
-
-void b3FillCL::execute(b3OpenCLArray<float>& src, const float value, int n, int offset)
-{
-	b3Assert(n > 0);
-
-	{
-		b3LauncherCL launcher(m_commandQueue, m_fillFloatKernel, "m_fillFloatKernel");
-		launcher.setBuffer(src.getBufferCL());
-		launcher.setConst(n);
-		launcher.setConst(value);
-		launcher.setConst(offset);
-
-		launcher.launch1D(n);
-	}
-}
-
-void b3FillCL::execute(b3OpenCLArray<int>& src, const int value, int n, int offset)
-{
-	b3Assert(n > 0);
-
-	{
-		b3LauncherCL launcher(m_commandQueue, m_fillIntKernel, "m_fillIntKernel");
-		launcher.setBuffer(src.getBufferCL());
-		launcher.setConst(n);
-		launcher.setConst(value);
-		launcher.setConst(offset);
-		launcher.launch1D(n);
-	}
-}
-
-void b3FillCL::execute(b3OpenCLArray<unsigned int>& src, const unsigned int value, int n, int offset)
-{
-	b3Assert(n > 0);
-
-	{
-		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(src.getBufferCL())};
-
-		b3LauncherCL launcher(m_commandQueue, m_fillUnsignedIntKernel, "m_fillUnsignedIntKernel");
-		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(n);
-		launcher.setConst(value);
-		launcher.setConst(offset);
-
-		launcher.launch1D(n);
-	}
-}
-
-void b3FillCL::executeHost(b3AlignedObjectArray<b3Int2>& src, const b3Int2& value, int n, int offset)
-{
-	for (int i = 0; i < n; i++)
-	{
-		src[i + offset] = value;
-	}
-}
-
-void b3FillCL::executeHost(b3AlignedObjectArray<int>& src, const int value, int n, int offset)
-{
-	for (int i = 0; i < n; i++)
-	{
-		src[i + offset] = value;
-	}
-}
-
-void b3FillCL::execute(b3OpenCLArray<b3Int2>& src, const b3Int2& value, int n, int offset)
-{
-	b3Assert(n > 0);
-
-	{
-		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(src.getBufferCL())};
-
-		b3LauncherCL launcher(m_commandQueue, m_fillKernelInt2, "m_fillKernelInt2");
-		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(n);
-		launcher.setConst(value);
-		launcher.setConst(offset);
-
-		//( constBuffer );
-		launcher.launch1D(n);
-	}
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3FillCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3FillCL.h
deleted file mode 100644
index c92c3e5119..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3FillCL.h
+++ /dev/null
@@ -1,52 +0,0 @@
-#ifndef B3_FILL_CL_H
-#define B3_FILL_CL_H
-
-#include "b3OpenCLArray.h"
-#include "Bullet3Common/b3Scalar.h"
-
-#include "Bullet3Common/shared/b3Int2.h"
-#include "Bullet3Common/shared/b3Int4.h"
-
-class b3FillCL
-{
-	cl_command_queue m_commandQueue;
-
-	cl_kernel m_fillKernelInt2;
-	cl_kernel m_fillIntKernel;
-	cl_kernel m_fillUnsignedIntKernel;
-	cl_kernel m_fillFloatKernel;
-
-public:
-	struct b3ConstData
-	{
-		union {
-			b3Int4 m_data;
-			b3UnsignedInt4 m_UnsignedData;
-		};
-		int m_offset;
-		int m_n;
-		int m_padding[2];
-	};
-
-protected:
-public:
-	b3FillCL(cl_context ctx, cl_device_id device, cl_command_queue queue);
-
-	virtual ~b3FillCL();
-
-	void execute(b3OpenCLArray<unsigned int>& src, const unsigned int value, int n, int offset = 0);
-
-	void execute(b3OpenCLArray<int>& src, const int value, int n, int offset = 0);
-
-	void execute(b3OpenCLArray<float>& src, const float value, int n, int offset = 0);
-
-	void execute(b3OpenCLArray<b3Int2>& src, const b3Int2& value, int n, int offset = 0);
-
-	void executeHost(b3AlignedObjectArray<b3Int2>& src, const b3Int2& value, int n, int offset);
-
-	void executeHost(b3AlignedObjectArray<int>& src, const int value, int n, int offset);
-
-	//	void execute(b3OpenCLArray<b3Int4>& src, const b3Int4& value, int n, int offset = 0);
-};
-
-#endif  //B3_FILL_CL_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.cpp b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.cpp
deleted file mode 100644
index c97d02eb45..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.cpp
+++ /dev/null
@@ -1,296 +0,0 @@
-#include "b3LauncherCL.h"
-
-bool gDebugLauncherCL = false;
-
-b3LauncherCL::b3LauncherCL(cl_command_queue queue, cl_kernel kernel, const char* name)
-	: m_commandQueue(queue),
-	  m_kernel(kernel),
-	  m_idx(0),
-	  m_enableSerialization(false),
-	  m_name(name)
-{
-	if (gDebugLauncherCL)
-	{
-		static int counter = 0;
-		printf("[%d] Prepare to launch OpenCL kernel %s\n", counter++, name);
-	}
-
-	m_serializationSizeInBytes = sizeof(int);
-}
-
-b3LauncherCL::~b3LauncherCL()
-{
-	for (int i = 0; i < m_arrays.size(); i++)
-	{
-		delete (m_arrays[i]);
-	}
-
-	m_arrays.clear();
-	if (gDebugLauncherCL)
-	{
-		static int counter = 0;
-		printf("[%d] Finished launching OpenCL kernel %s\n", counter++, m_name);
-	}
-}
-
-void b3LauncherCL::setBuffer(cl_mem clBuffer)
-{
-	if (m_enableSerialization)
-	{
-		b3KernelArgData kernelArg;
-		kernelArg.m_argIndex = m_idx;
-		kernelArg.m_isBuffer = 1;
-		kernelArg.m_clBuffer = clBuffer;
-
-		cl_mem_info param_name = CL_MEM_SIZE;
-		size_t param_value;
-		size_t sizeInBytes = sizeof(size_t);
-		size_t actualSizeInBytes;
-		cl_int err;
-		err = clGetMemObjectInfo(kernelArg.m_clBuffer,
-								 param_name,
-								 sizeInBytes,
-								 &param_value,
-								 &actualSizeInBytes);
-
-		b3Assert(err == CL_SUCCESS);
-		kernelArg.m_argSizeInBytes = param_value;
-
-		m_kernelArguments.push_back(kernelArg);
-		m_serializationSizeInBytes += sizeof(b3KernelArgData);
-		m_serializationSizeInBytes += param_value;
-	}
-	cl_int status = clSetKernelArg(m_kernel, m_idx++, sizeof(cl_mem), &clBuffer);
-	b3Assert(status == CL_SUCCESS);
-}
-
-void b3LauncherCL::setBuffers(b3BufferInfoCL* buffInfo, int n)
-{
-	for (int i = 0; i < n; i++)
-	{
-		if (m_enableSerialization)
-		{
-			b3KernelArgData kernelArg;
-			kernelArg.m_argIndex = m_idx;
-			kernelArg.m_isBuffer = 1;
-			kernelArg.m_clBuffer = buffInfo[i].m_clBuffer;
-
-			cl_mem_info param_name = CL_MEM_SIZE;
-			size_t param_value;
-			size_t sizeInBytes = sizeof(size_t);
-			size_t actualSizeInBytes;
-			cl_int err;
-			err = clGetMemObjectInfo(kernelArg.m_clBuffer,
-									 param_name,
-									 sizeInBytes,
-									 &param_value,
-									 &actualSizeInBytes);
-
-			b3Assert(err == CL_SUCCESS);
-			kernelArg.m_argSizeInBytes = param_value;
-
-			m_kernelArguments.push_back(kernelArg);
-			m_serializationSizeInBytes += sizeof(b3KernelArgData);
-			m_serializationSizeInBytes += param_value;
-		}
-		cl_int status = clSetKernelArg(m_kernel, m_idx++, sizeof(cl_mem), &buffInfo[i].m_clBuffer);
-		b3Assert(status == CL_SUCCESS);
-	}
-}
-
-struct b3KernelArgDataUnaligned
-{
-	int m_isBuffer;
-	int m_argIndex;
-	int m_argSizeInBytes;
-	int m_unusedPadding;
-	union {
-		cl_mem m_clBuffer;
-		unsigned char m_argData[B3_CL_MAX_ARG_SIZE];
-	};
-};
-#include <string.h>
-
-int b3LauncherCL::deserializeArgs(unsigned char* buf, int bufSize, cl_context ctx)
-{
-	int index = 0;
-
-	int numArguments = *(int*)&buf[index];
-	index += sizeof(int);
-
-	for (int i = 0; i < numArguments; i++)
-	{
-		b3KernelArgDataUnaligned* arg = (b3KernelArgDataUnaligned*)&buf[index];
-
-		index += sizeof(b3KernelArgData);
-		if (arg->m_isBuffer)
-		{
-			b3OpenCLArray<unsigned char>* clData = new b3OpenCLArray<unsigned char>(ctx, m_commandQueue, arg->m_argSizeInBytes);
-			clData->resize(arg->m_argSizeInBytes);
-
-			clData->copyFromHostPointer(&buf[index], arg->m_argSizeInBytes);
-
-			arg->m_clBuffer = clData->getBufferCL();
-
-			m_arrays.push_back(clData);
-
-			cl_int status = clSetKernelArg(m_kernel, m_idx++, sizeof(cl_mem), &arg->m_clBuffer);
-			b3Assert(status == CL_SUCCESS);
-			index += arg->m_argSizeInBytes;
-		}
-		else
-		{
-			cl_int status = clSetKernelArg(m_kernel, m_idx++, arg->m_argSizeInBytes, &arg->m_argData);
-			b3Assert(status == CL_SUCCESS);
-		}
-		b3KernelArgData b;
-		memcpy(&b, arg, sizeof(b3KernelArgDataUnaligned));
-		m_kernelArguments.push_back(b);
-	}
-	m_serializationSizeInBytes = index;
-	return index;
-}
-
-int b3LauncherCL::validateResults(unsigned char* goldBuffer, int goldBufferCapacity, cl_context ctx)
-{
-	int index = 0;
-
-	int numArguments = *(int*)&goldBuffer[index];
-	index += sizeof(int);
-
-	if (numArguments != m_kernelArguments.size())
-	{
-		printf("failed validation: expected %d arguments, found %d\n", numArguments, m_kernelArguments.size());
-		return -1;
-	}
-
-	for (int ii = 0; ii < numArguments; ii++)
-	{
-		b3KernelArgData* argGold = (b3KernelArgData*)&goldBuffer[index];
-
-		if (m_kernelArguments[ii].m_argSizeInBytes != argGold->m_argSizeInBytes)
-		{
-			printf("failed validation: argument %d sizeInBytes expected: %d, found %d\n", ii, argGold->m_argSizeInBytes, m_kernelArguments[ii].m_argSizeInBytes);
-			return -2;
-		}
-
-		{
-			int expected = argGold->m_isBuffer;
-			int found = m_kernelArguments[ii].m_isBuffer;
-
-			if (expected != found)
-			{
-				printf("failed validation: argument %d isBuffer expected: %d, found %d\n", ii, expected, found);
-				return -3;
-			}
-		}
-		index += sizeof(b3KernelArgData);
-
-		if (argGold->m_isBuffer)
-		{
-			unsigned char* memBuf = (unsigned char*)malloc(m_kernelArguments[ii].m_argSizeInBytes);
-			unsigned char* goldBuf = &goldBuffer[index];
-			for (int j = 0; j < m_kernelArguments[j].m_argSizeInBytes; j++)
-			{
-				memBuf[j] = 0xaa;
-			}
-
-			cl_int status = 0;
-			status = clEnqueueReadBuffer(m_commandQueue, m_kernelArguments[ii].m_clBuffer, CL_TRUE, 0, m_kernelArguments[ii].m_argSizeInBytes,
-										 memBuf, 0, 0, 0);
-			b3Assert(status == CL_SUCCESS);
-			clFinish(m_commandQueue);
-
-			for (int b = 0; b < m_kernelArguments[ii].m_argSizeInBytes; b++)
-			{
-				int expected = goldBuf[b];
-				int found = memBuf[b];
-				if (expected != found)
-				{
-					printf("failed validation: argument %d OpenCL data at byte position %d expected: %d, found %d\n",
-						   ii, b, expected, found);
-					return -4;
-				}
-			}
-
-			index += argGold->m_argSizeInBytes;
-		}
-		else
-		{
-			//compare content
-			for (int b = 0; b < m_kernelArguments[ii].m_argSizeInBytes; b++)
-			{
-				int expected = argGold->m_argData[b];
-				int found = m_kernelArguments[ii].m_argData[b];
-				if (expected != found)
-				{
-					printf("failed validation: argument %d const data at byte position %d expected: %d, found %d\n",
-						   ii, b, expected, found);
-					return -5;
-				}
-			}
-		}
-	}
-	return index;
-}
-
-int b3LauncherCL::serializeArguments(unsigned char* destBuffer, int destBufferCapacity)
-{
-	//initialize to known values
-	for (int i = 0; i < destBufferCapacity; i++)
-		destBuffer[i] = 0xec;
-
-	assert(destBufferCapacity >= m_serializationSizeInBytes);
-
-	//todo: use the b3Serializer for this to allow for 32/64bit, endianness etc
-	int numArguments = m_kernelArguments.size();
-	int curBufferSize = 0;
-	int* dest = (int*)&destBuffer[curBufferSize];
-	*dest = numArguments;
-	curBufferSize += sizeof(int);
-
-	for (int i = 0; i < this->m_kernelArguments.size(); i++)
-	{
-		b3KernelArgData* arg = (b3KernelArgData*)&destBuffer[curBufferSize];
-		*arg = m_kernelArguments[i];
-		curBufferSize += sizeof(b3KernelArgData);
-		if (arg->m_isBuffer == 1)
-		{
-			//copy the OpenCL buffer content
-			cl_int status = 0;
-			status = clEnqueueReadBuffer(m_commandQueue, arg->m_clBuffer, 0, 0, arg->m_argSizeInBytes,
-										 &destBuffer[curBufferSize], 0, 0, 0);
-			b3Assert(status == CL_SUCCESS);
-			clFinish(m_commandQueue);
-			curBufferSize += arg->m_argSizeInBytes;
-		}
-	}
-	return curBufferSize;
-}
-
-void b3LauncherCL::serializeToFile(const char* fileName, int numWorkItems)
-{
-	int num = numWorkItems;
-	int buffSize = getSerializationBufferSize();
-	unsigned char* buf = new unsigned char[buffSize + sizeof(int)];
-	for (int i = 0; i < buffSize + 1; i++)
-	{
-		unsigned char* ptr = (unsigned char*)&buf[i];
-		*ptr = 0xff;
-	}
-	//	int actualWrite = serializeArguments(buf,buffSize);
-
-	//	unsigned char* cptr = (unsigned char*)&buf[buffSize];
-	//            printf("buf[buffSize] = %d\n",*cptr);
-
-	assert(buf[buffSize] == 0xff);  //check for buffer overrun
-	int* ptr = (int*)&buf[buffSize];
-
-	*ptr = num;
-
-	FILE* f = fopen(fileName, "wb");
-	fwrite(buf, buffSize + sizeof(int), 1, f);
-	fclose(f);
-
-	delete[] buf;
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h
deleted file mode 100644
index 18e9c1db2b..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h
+++ /dev/null
@@ -1,128 +0,0 @@
-
-#ifndef B3_LAUNCHER_CL_H
-#define B3_LAUNCHER_CL_H
-
-#include "b3BufferInfoCL.h"
-#include "Bullet3Common/b3MinMax.h"
-#include "b3OpenCLArray.h"
-#include <stdio.h>
-
-#define B3_DEBUG_SERIALIZE_CL
-
-#ifdef _WIN32
-#pragma warning(disable : 4996)
-#endif
-#define B3_CL_MAX_ARG_SIZE 16
-B3_ATTRIBUTE_ALIGNED16(struct)
-b3KernelArgData
-{
-	int m_isBuffer;
-	int m_argIndex;
-	int m_argSizeInBytes;
-	int m_unusedPadding;
-	union {
-		cl_mem m_clBuffer;
-		unsigned char m_argData[B3_CL_MAX_ARG_SIZE];
-	};
-};
-
-class b3LauncherCL
-{
-	cl_command_queue m_commandQueue;
-	cl_kernel m_kernel;
-	int m_idx;
-
-	b3AlignedObjectArray<b3KernelArgData> m_kernelArguments;
-	int m_serializationSizeInBytes;
-	bool m_enableSerialization;
-
-	const char* m_name;
-
-public:
-	b3AlignedObjectArray<b3OpenCLArray<unsigned char>*> m_arrays;
-
-	b3LauncherCL(cl_command_queue queue, cl_kernel kernel, const char* name);
-
-	virtual ~b3LauncherCL();
-
-	void setBuffer(cl_mem clBuffer);
-
-	void setBuffers(b3BufferInfoCL* buffInfo, int n);
-
-	int getSerializationBufferSize() const
-	{
-		return m_serializationSizeInBytes;
-	}
-
-	int deserializeArgs(unsigned char* buf, int bufSize, cl_context ctx);
-
-	inline int validateResults(unsigned char* goldBuffer, int goldBufferCapacity, cl_context ctx);
-
-	int serializeArguments(unsigned char* destBuffer, int destBufferCapacity);
-
-	int getNumArguments() const
-	{
-		return m_kernelArguments.size();
-	}
-
-	b3KernelArgData getArgument(int index)
-	{
-		return m_kernelArguments[index];
-	}
-
-	void serializeToFile(const char* fileName, int numWorkItems);
-
-	template <typename T>
-	inline void setConst(const T& consts)
-	{
-		int sz = sizeof(T);
-		b3Assert(sz <= B3_CL_MAX_ARG_SIZE);
-
-		if (m_enableSerialization)
-		{
-			b3KernelArgData kernelArg;
-			kernelArg.m_argIndex = m_idx;
-			kernelArg.m_isBuffer = 0;
-			T* destArg = (T*)kernelArg.m_argData;
-			*destArg = consts;
-			kernelArg.m_argSizeInBytes = sizeof(T);
-			m_kernelArguments.push_back(kernelArg);
-			m_serializationSizeInBytes += sizeof(b3KernelArgData);
-		}
-
-		cl_int status = clSetKernelArg(m_kernel, m_idx++, sz, &consts);
-		b3Assert(status == CL_SUCCESS);
-	}
-
-	inline void launch1D(int numThreads, int localSize = 64)
-	{
-		launch2D(numThreads, 1, localSize, 1);
-	}
-
-	inline void launch2D(int numThreadsX, int numThreadsY, int localSizeX, int localSizeY)
-	{
-		size_t gRange[3] = {1, 1, 1};
-		size_t lRange[3] = {1, 1, 1};
-		lRange[0] = localSizeX;
-		lRange[1] = localSizeY;
-		gRange[0] = b3Max((size_t)1, (numThreadsX / lRange[0]) + (!(numThreadsX % lRange[0]) ? 0 : 1));
-		gRange[0] *= lRange[0];
-		gRange[1] = b3Max((size_t)1, (numThreadsY / lRange[1]) + (!(numThreadsY % lRange[1]) ? 0 : 1));
-		gRange[1] *= lRange[1];
-
-		cl_int status = clEnqueueNDRangeKernel(m_commandQueue,
-											   m_kernel, 2, NULL, gRange, lRange, 0, 0, 0);
-		if (status != CL_SUCCESS)
-		{
-			printf("Error: OpenCL status = %d\n", status);
-		}
-		b3Assert(status == CL_SUCCESS);
-	}
-
-	void enableSerialization(bool serialize)
-	{
-		m_enableSerialization = serialize;
-	}
-};
-
-#endif  //B3_LAUNCHER_CL_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h
deleted file mode 100644
index e837cceb66..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h
+++ /dev/null
@@ -1,300 +0,0 @@
-#ifndef B3_OPENCL_ARRAY_H
-#define B3_OPENCL_ARRAY_H
-
-#include "Bullet3Common/b3AlignedObjectArray.h"
-#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
-
-template <typename T>
-class b3OpenCLArray
-{
-	size_t m_size;
-	size_t m_capacity;
-	cl_mem m_clBuffer;
-
-	cl_context m_clContext;
-	cl_command_queue m_commandQueue;
-
-	bool m_ownsMemory;
-
-	bool m_allowGrowingCapacity;
-
-	void deallocate()
-	{
-		if (m_clBuffer && m_ownsMemory)
-		{
-			clReleaseMemObject(m_clBuffer);
-		}
-		m_clBuffer = 0;
-		m_capacity = 0;
-	}
-
-	b3OpenCLArray<T>& operator=(const b3OpenCLArray<T>& src);
-
-	B3_FORCE_INLINE size_t allocSize(size_t size)
-	{
-		return (size ? size * 2 : 1);
-	}
-
-public:
-	b3OpenCLArray(cl_context ctx, cl_command_queue queue, size_t initialCapacity = 0, bool allowGrowingCapacity = true)
-		: m_size(0), m_capacity(0), m_clBuffer(0), m_clContext(ctx), m_commandQueue(queue), m_ownsMemory(true), m_allowGrowingCapacity(true)
-	{
-		if (initialCapacity)
-		{
-			reserve(initialCapacity);
-		}
-		m_allowGrowingCapacity = allowGrowingCapacity;
-	}
-
-	///this is an error-prone method with no error checking, be careful!
-	void setFromOpenCLBuffer(cl_mem buffer, size_t sizeInElements)
-	{
-		deallocate();
-		m_ownsMemory = false;
-		m_allowGrowingCapacity = false;
-		m_clBuffer = buffer;
-		m_size = sizeInElements;
-		m_capacity = sizeInElements;
-	}
-
-	// we could enable this assignment, but need to make sure to avoid accidental deep copies
-	//	b3OpenCLArray<T>& operator=(const b3AlignedObjectArray<T>& src)
-	//	{
-	//		copyFromArray(src);
-	//		return *this;
-	//	}
-
-	cl_mem getBufferCL() const
-	{
-		return m_clBuffer;
-	}
-
-	virtual ~b3OpenCLArray()
-	{
-		deallocate();
-		m_size = 0;
-		m_capacity = 0;
-	}
-
-	B3_FORCE_INLINE bool push_back(const T& _Val, bool waitForCompletion = true)
-	{
-		bool result = true;
-		size_t sz = size();
-		if (sz == capacity())
-		{
-			result = reserve(allocSize(size()));
-		}
-		copyFromHostPointer(&_Val, 1, sz, waitForCompletion);
-		m_size++;
-		return result;
-	}
-
-	B3_FORCE_INLINE T forcedAt(size_t n) const
-	{
-		b3Assert(n >= 0);
-		b3Assert(n < capacity());
-		T elem;
-		copyToHostPointer(&elem, 1, n, true);
-		return elem;
-	}
-
-	B3_FORCE_INLINE T at(size_t n) const
-	{
-		b3Assert(n >= 0);
-		b3Assert(n < size());
-		T elem;
-		copyToHostPointer(&elem, 1, n, true);
-		return elem;
-	}
-
-	B3_FORCE_INLINE bool resize(size_t newsize, bool copyOldContents = true)
-	{
-		bool result = true;
-		size_t curSize = size();
-
-		if (newsize < curSize)
-		{
-			//leave the OpenCL memory for now
-		}
-		else
-		{
-			if (newsize > size())
-			{
-				result = reserve(newsize, copyOldContents);
-			}
-
-			//leave new data uninitialized (init in debug mode?)
-			//for (size_t i=curSize;i<newsize;i++) ...
-		}
-
-		if (result)
-		{
-			m_size = newsize;
-		}
-		else
-		{
-			m_size = 0;
-		}
-		return result;
-	}
-
-	B3_FORCE_INLINE size_t size() const
-	{
-		return m_size;
-	}
-
-	B3_FORCE_INLINE size_t capacity() const
-	{
-		return m_capacity;
-	}
-
-	B3_FORCE_INLINE bool reserve(size_t _Count, bool copyOldContents = true)
-	{
-		bool result = true;
-		// determine new minimum length of allocated storage
-		if (capacity() < _Count)
-		{  // not enough room, reallocate
-
-			if (m_allowGrowingCapacity)
-			{
-				cl_int ciErrNum;
-				//create a new OpenCL buffer
-				size_t memSizeInBytes = sizeof(T) * _Count;
-				cl_mem buf = clCreateBuffer(m_clContext, CL_MEM_READ_WRITE, memSizeInBytes, NULL, &ciErrNum);
-				if (ciErrNum != CL_SUCCESS)
-				{
-					b3Error("OpenCL out-of-memory\n");
-					_Count = 0;
-					result = false;
-				}
-//#define B3_ALWAYS_INITIALIZE_OPENCL_BUFFERS
-#ifdef B3_ALWAYS_INITIALIZE_OPENCL_BUFFERS
-				unsigned char* src = (unsigned char*)malloc(memSizeInBytes);
-				for (size_t i = 0; i < memSizeInBytes; i++)
-					src[i] = 0xbb;
-				ciErrNum = clEnqueueWriteBuffer(m_commandQueue, buf, CL_TRUE, 0, memSizeInBytes, src, 0, 0, 0);
-				b3Assert(ciErrNum == CL_SUCCESS);
-				clFinish(m_commandQueue);
-				free(src);
-#endif  //B3_ALWAYS_INITIALIZE_OPENCL_BUFFERS
-
-				if (result)
-				{
-					if (copyOldContents)
-						copyToCL(buf, size());
-				}
-
-				//deallocate the old buffer
-				deallocate();
-
-				m_clBuffer = buf;
-
-				m_capacity = _Count;
-			}
-			else
-			{
-				//fail: assert and
-				b3Assert(0);
-				deallocate();
-				result = false;
-			}
-		}
-		return result;
-	}
-
-	void copyToCL(cl_mem destination, size_t numElements, size_t firstElem = 0, size_t dstOffsetInElems = 0) const
-	{
-		if (numElements <= 0)
-			return;
-
-		b3Assert(m_clBuffer);
-		b3Assert(destination);
-
-		//likely some error, destination is same as source
-		b3Assert(m_clBuffer != destination);
-
-		b3Assert((firstElem + numElements) <= m_size);
-
-		cl_int status = 0;
-
-		b3Assert(numElements > 0);
-		b3Assert(numElements <= m_size);
-
-		size_t srcOffsetBytes = sizeof(T) * firstElem;
-		size_t dstOffsetInBytes = sizeof(T) * dstOffsetInElems;
-
-		status = clEnqueueCopyBuffer(m_commandQueue, m_clBuffer, destination,
-									 srcOffsetBytes, dstOffsetInBytes, sizeof(T) * numElements, 0, 0, 0);
-
-		b3Assert(status == CL_SUCCESS);
-	}
-
-	void copyFromHost(const b3AlignedObjectArray<T>& srcArray, bool waitForCompletion = true)
-	{
-		size_t newSize = srcArray.size();
-
-		bool copyOldContents = false;
-		resize(newSize, copyOldContents);
-		if (newSize)
-			copyFromHostPointer(&srcArray[0], newSize, 0, waitForCompletion);
-	}
-
-	void copyFromHostPointer(const T* src, size_t numElems, size_t destFirstElem = 0, bool waitForCompletion = true)
-	{
-		b3Assert(numElems + destFirstElem <= capacity());
-
-		if (numElems + destFirstElem)
-		{
-			cl_int status = 0;
-			size_t sizeInBytes = sizeof(T) * numElems;
-			status = clEnqueueWriteBuffer(m_commandQueue, m_clBuffer, 0, sizeof(T) * destFirstElem, sizeInBytes,
-										  src, 0, 0, 0);
-			b3Assert(status == CL_SUCCESS);
-			if (waitForCompletion)
-				clFinish(m_commandQueue);
-		}
-		else
-		{
-			b3Error("copyFromHostPointer invalid range\n");
-		}
-	}
-
-	void copyToHost(b3AlignedObjectArray<T>& destArray, bool waitForCompletion = true) const
-	{
-		destArray.resize(this->size());
-		if (size())
-			copyToHostPointer(&destArray[0], size(), 0, waitForCompletion);
-	}
-
-	void copyToHostPointer(T* destPtr, size_t numElem, size_t srcFirstElem = 0, bool waitForCompletion = true) const
-	{
-		b3Assert(numElem + srcFirstElem <= capacity());
-
-		if (numElem + srcFirstElem <= capacity())
-		{
-			cl_int status = 0;
-			status = clEnqueueReadBuffer(m_commandQueue, m_clBuffer, 0, sizeof(T) * srcFirstElem, sizeof(T) * numElem,
-										 destPtr, 0, 0, 0);
-			b3Assert(status == CL_SUCCESS);
-
-			if (waitForCompletion)
-				clFinish(m_commandQueue);
-		}
-		else
-		{
-			b3Error("copyToHostPointer invalid range\n");
-		}
-	}
-
-	void copyFromOpenCLArray(const b3OpenCLArray& src)
-	{
-		size_t newSize = src.size();
-		resize(newSize);
-		if (size())
-		{
-			src.copyToCL(m_clBuffer, size());
-		}
-	}
-};
-
-#endif  //B3_OPENCL_ARRAY_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.cpp b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.cpp
deleted file mode 100644
index 822b511633..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.cpp
+++ /dev/null
@@ -1,120 +0,0 @@
-#include "b3PrefixScanCL.h"
-#include "b3FillCL.h"
-#define B3_PREFIXSCAN_PROG_PATH "src/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernels.cl"
-
-#include "b3LauncherCL.h"
-#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
-#include "kernels/PrefixScanKernelsCL.h"
-
-b3PrefixScanCL::b3PrefixScanCL(cl_context ctx, cl_device_id device, cl_command_queue queue, int size)
-	: m_commandQueue(queue)
-{
-	const char* scanKernelSource = prefixScanKernelsCL;
-	cl_int pErrNum;
-	char* additionalMacros = 0;
-
-	m_workBuffer = new b3OpenCLArray<unsigned int>(ctx, queue, size);
-	cl_program scanProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, scanKernelSource, &pErrNum, additionalMacros, B3_PREFIXSCAN_PROG_PATH);
-	b3Assert(scanProg);
-
-	m_localScanKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, scanKernelSource, "LocalScanKernel", &pErrNum, scanProg, additionalMacros);
-	b3Assert(m_localScanKernel);
-	m_blockSumKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, scanKernelSource, "TopLevelScanKernel", &pErrNum, scanProg, additionalMacros);
-	b3Assert(m_blockSumKernel);
-	m_propagationKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, scanKernelSource, "AddOffsetKernel", &pErrNum, scanProg, additionalMacros);
-	b3Assert(m_propagationKernel);
-}
-
-b3PrefixScanCL::~b3PrefixScanCL()
-{
-	delete m_workBuffer;
-	clReleaseKernel(m_localScanKernel);
-	clReleaseKernel(m_blockSumKernel);
-	clReleaseKernel(m_propagationKernel);
-}
-
-template <class T>
-T b3NextPowerOf2(T n)
-{
-	n -= 1;
-	for (int i = 0; i < sizeof(T) * 8; i++)
-		n = n | (n >> i);
-	return n + 1;
-}
-
-void b3PrefixScanCL::execute(b3OpenCLArray<unsigned int>& src, b3OpenCLArray<unsigned int>& dst, int n, unsigned int* sum)
-{
-	//	b3Assert( data->m_option == EXCLUSIVE );
-	const unsigned int numBlocks = (const unsigned int)((n + BLOCK_SIZE * 2 - 1) / (BLOCK_SIZE * 2));
-
-	dst.resize(src.size());
-	m_workBuffer->resize(src.size());
-
-	b3Int4 constBuffer;
-	constBuffer.x = n;
-	constBuffer.y = numBlocks;
-	constBuffer.z = (int)b3NextPowerOf2(numBlocks);
-
-	b3OpenCLArray<unsigned int>* srcNative = &src;
-	b3OpenCLArray<unsigned int>* dstNative = &dst;
-
-	{
-		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(dstNative->getBufferCL()), b3BufferInfoCL(srcNative->getBufferCL()), b3BufferInfoCL(m_workBuffer->getBufferCL())};
-
-		b3LauncherCL launcher(m_commandQueue, m_localScanKernel, "m_localScanKernel");
-		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(constBuffer);
-		launcher.launch1D(numBlocks * BLOCK_SIZE, BLOCK_SIZE);
-	}
-
-	{
-		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(m_workBuffer->getBufferCL())};
-
-		b3LauncherCL launcher(m_commandQueue, m_blockSumKernel, "m_blockSumKernel");
-		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(constBuffer);
-		launcher.launch1D(BLOCK_SIZE, BLOCK_SIZE);
-	}
-
-	if (numBlocks > 1)
-	{
-		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(dstNative->getBufferCL()), b3BufferInfoCL(m_workBuffer->getBufferCL())};
-		b3LauncherCL launcher(m_commandQueue, m_propagationKernel, "m_propagationKernel");
-		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(constBuffer);
-		launcher.launch1D((numBlocks - 1) * BLOCK_SIZE, BLOCK_SIZE);
-	}
-
-	if (sum)
-	{
-		clFinish(m_commandQueue);
-		dstNative->copyToHostPointer(sum, 1, n - 1, true);
-	}
-}
-
-void b3PrefixScanCL::executeHost(b3AlignedObjectArray<unsigned int>& src, b3AlignedObjectArray<unsigned int>& dst, int n, unsigned int* sum)
-{
-	unsigned int s = 0;
-	//if( data->m_option == EXCLUSIVE )
-	{
-		for (int i = 0; i < n; i++)
-		{
-			dst[i] = s;
-			s += src[i];
-		}
-	}
-	/*else
-	{
-		for(int i=0; i<n; i++)
-		{
-			s += hSrc[i];
-			hDst[i] = s;
-		}
-	}
-	*/
-
-	if (sum)
-	{
-		*sum = dst[n - 1];
-	}
-}
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.h
deleted file mode 100644
index 346efa0c73..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.h
+++ /dev/null
@@ -1,35 +0,0 @@
-
-#ifndef B3_PREFIX_SCAN_CL_H
-#define B3_PREFIX_SCAN_CL_H
-
-#include "b3OpenCLArray.h"
-#include "b3BufferInfoCL.h"
-#include "Bullet3Common/b3AlignedObjectArray.h"
-
-class b3PrefixScanCL
-{
-	enum
-	{
-		BLOCK_SIZE = 128
-	};
-
-	//	Option m_option;
-
-	cl_command_queue m_commandQueue;
-
-	cl_kernel m_localScanKernel;
-	cl_kernel m_blockSumKernel;
-	cl_kernel m_propagationKernel;
-
-	b3OpenCLArray<unsigned int>* m_workBuffer;
-
-public:
-	b3PrefixScanCL(cl_context ctx, cl_device_id device, cl_command_queue queue, int size = 0);
-
-	virtual ~b3PrefixScanCL();
-
-	void execute(b3OpenCLArray<unsigned int>& src, b3OpenCLArray<unsigned int>& dst, int n, unsigned int* sum = 0);
-	void executeHost(b3AlignedObjectArray<unsigned int>& src, b3AlignedObjectArray<unsigned int>& dst, int n, unsigned int* sum = 0);
-};
-
-#endif  //B3_PREFIX_SCAN_CL_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.cpp b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.cpp
deleted file mode 100644
index 1cac97c988..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.cpp
+++ /dev/null
@@ -1,120 +0,0 @@
-#include "b3PrefixScanFloat4CL.h"
-#include "b3FillCL.h"
-#define B3_PREFIXSCAN_FLOAT4_PROG_PATH "src/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanFloat4Kernels.cl"
-
-#include "b3LauncherCL.h"
-#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
-#include "kernels/PrefixScanKernelsFloat4CL.h"
-
-b3PrefixScanFloat4CL::b3PrefixScanFloat4CL(cl_context ctx, cl_device_id device, cl_command_queue queue, int size)
-	: m_commandQueue(queue)
-{
-	const char* scanKernelSource = prefixScanKernelsFloat4CL;
-	cl_int pErrNum;
-	char* additionalMacros = 0;
-
-	m_workBuffer = new b3OpenCLArray<b3Vector3>(ctx, queue, size);
-	cl_program scanProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, scanKernelSource, &pErrNum, additionalMacros, B3_PREFIXSCAN_FLOAT4_PROG_PATH);
-	b3Assert(scanProg);
-
-	m_localScanKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, scanKernelSource, "LocalScanKernel", &pErrNum, scanProg, additionalMacros);
-	b3Assert(m_localScanKernel);
-	m_blockSumKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, scanKernelSource, "TopLevelScanKernel", &pErrNum, scanProg, additionalMacros);
-	b3Assert(m_blockSumKernel);
-	m_propagationKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, scanKernelSource, "AddOffsetKernel", &pErrNum, scanProg, additionalMacros);
-	b3Assert(m_propagationKernel);
-}
-
-b3PrefixScanFloat4CL::~b3PrefixScanFloat4CL()
-{
-	delete m_workBuffer;
-	clReleaseKernel(m_localScanKernel);
-	clReleaseKernel(m_blockSumKernel);
-	clReleaseKernel(m_propagationKernel);
-}
-
-template <class T>
-T b3NextPowerOf2(T n)
-{
-	n -= 1;
-	for (int i = 0; i < sizeof(T) * 8; i++)
-		n = n | (n >> i);
-	return n + 1;
-}
-
-void b3PrefixScanFloat4CL::execute(b3OpenCLArray<b3Vector3>& src, b3OpenCLArray<b3Vector3>& dst, int n, b3Vector3* sum)
-{
-	//	b3Assert( data->m_option == EXCLUSIVE );
-	const unsigned int numBlocks = (const unsigned int)((n + BLOCK_SIZE * 2 - 1) / (BLOCK_SIZE * 2));
-
-	dst.resize(src.size());
-	m_workBuffer->resize(src.size());
-
-	b3Int4 constBuffer;
-	constBuffer.x = n;
-	constBuffer.y = numBlocks;
-	constBuffer.z = (int)b3NextPowerOf2(numBlocks);
-
-	b3OpenCLArray<b3Vector3>* srcNative = &src;
-	b3OpenCLArray<b3Vector3>* dstNative = &dst;
-
-	{
-		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(dstNative->getBufferCL()), b3BufferInfoCL(srcNative->getBufferCL()), b3BufferInfoCL(m_workBuffer->getBufferCL())};
-
-		b3LauncherCL launcher(m_commandQueue, m_localScanKernel, "m_localScanKernel");
-		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(constBuffer);
-		launcher.launch1D(numBlocks * BLOCK_SIZE, BLOCK_SIZE);
-	}
-
-	{
-		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(m_workBuffer->getBufferCL())};
-
-		b3LauncherCL launcher(m_commandQueue, m_blockSumKernel, "m_blockSumKernel");
-		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(constBuffer);
-		launcher.launch1D(BLOCK_SIZE, BLOCK_SIZE);
-	}
-
-	if (numBlocks > 1)
-	{
-		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(dstNative->getBufferCL()), b3BufferInfoCL(m_workBuffer->getBufferCL())};
-		b3LauncherCL launcher(m_commandQueue, m_propagationKernel, "m_propagationKernel");
-		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-		launcher.setConst(constBuffer);
-		launcher.launch1D((numBlocks - 1) * BLOCK_SIZE, BLOCK_SIZE);
-	}
-
-	if (sum)
-	{
-		clFinish(m_commandQueue);
-		dstNative->copyToHostPointer(sum, 1, n - 1, true);
-	}
-}
-
-void b3PrefixScanFloat4CL::executeHost(b3AlignedObjectArray<b3Vector3>& src, b3AlignedObjectArray<b3Vector3>& dst, int n, b3Vector3* sum)
-{
-	b3Vector3 s = b3MakeVector3(0, 0, 0);
-	//if( data->m_option == EXCLUSIVE )
-	{
-		for (int i = 0; i < n; i++)
-		{
-			dst[i] = s;
-			s += src[i];
-		}
-	}
-	/*else
-	{
-		for(int i=0; i<n; i++)
-		{
-			s += hSrc[i];
-			hDst[i] = s;
-		}
-	}
-	*/
-
-	if (sum)
-	{
-		*sum = dst[n - 1];
-	}
-}
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.h
deleted file mode 100644
index 122b0bfd68..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.h
+++ /dev/null
@@ -1,36 +0,0 @@
-
-#ifndef B3_PREFIX_SCAN_CL_H
-#define B3_PREFIX_SCAN_CL_H
-
-#include "b3OpenCLArray.h"
-#include "b3BufferInfoCL.h"
-#include "Bullet3Common/b3AlignedObjectArray.h"
-#include "Bullet3Common/b3Vector3.h"
-
-class b3PrefixScanFloat4CL
-{
-	enum
-	{
-		BLOCK_SIZE = 128
-	};
-
-	//	Option m_option;
-
-	cl_command_queue m_commandQueue;
-
-	cl_kernel m_localScanKernel;
-	cl_kernel m_blockSumKernel;
-	cl_kernel m_propagationKernel;
-
-	b3OpenCLArray<b3Vector3>* m_workBuffer;
-
-public:
-	b3PrefixScanFloat4CL(cl_context ctx, cl_device_id device, cl_command_queue queue, int size = 0);
-
-	virtual ~b3PrefixScanFloat4CL();
-
-	void execute(b3OpenCLArray<b3Vector3>& src, b3OpenCLArray<b3Vector3>& dst, int n, b3Vector3* sum = 0);
-	void executeHost(b3AlignedObjectArray<b3Vector3>& src, b3AlignedObjectArray<b3Vector3>& dst, int n, b3Vector3* sum);
-};
-
-#endif  //B3_PREFIX_SCAN_CL_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.cpp b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.cpp
deleted file mode 100644
index e86af6583f..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.cpp
+++ /dev/null
@@ -1,646 +0,0 @@
-
-#include "b3RadixSort32CL.h"
-#include "b3LauncherCL.h"
-#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
-#include "b3PrefixScanCL.h"
-#include "b3FillCL.h"
-
-#define RADIXSORT32_PATH "src/Bullet3OpenCL/ParallelPrimitives/kernels/RadixSort32Kernels.cl"
-
-#include "kernels/RadixSort32KernelsCL.h"
-
-b3RadixSort32CL::b3RadixSort32CL(cl_context ctx, cl_device_id device, cl_command_queue queue, int initialCapacity)
-	: m_commandQueue(queue)
-{
-	b3OpenCLDeviceInfo info;
-	b3OpenCLUtils::getDeviceInfo(device, &info);
-	m_deviceCPU = (info.m_deviceType & CL_DEVICE_TYPE_CPU) != 0;
-
-	m_workBuffer1 = new b3OpenCLArray<unsigned int>(ctx, queue);
-	m_workBuffer2 = new b3OpenCLArray<unsigned int>(ctx, queue);
-	m_workBuffer3 = new b3OpenCLArray<b3SortData>(ctx, queue);
-	m_workBuffer3a = new b3OpenCLArray<unsigned int>(ctx, queue);
-	m_workBuffer4 = new b3OpenCLArray<b3SortData>(ctx, queue);
-	m_workBuffer4a = new b3OpenCLArray<unsigned int>(ctx, queue);
-
-	if (initialCapacity > 0)
-	{
-		m_workBuffer1->resize(initialCapacity);
-		m_workBuffer3->resize(initialCapacity);
-		m_workBuffer3a->resize(initialCapacity);
-		m_workBuffer4->resize(initialCapacity);
-		m_workBuffer4a->resize(initialCapacity);
-	}
-
-	m_scan = new b3PrefixScanCL(ctx, device, queue);
-	m_fill = new b3FillCL(ctx, device, queue);
-
-	const char* additionalMacros = "";
-
-	cl_int pErrNum;
-	const char* kernelSource = radixSort32KernelsCL;
-
-	cl_program sortProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, kernelSource, &pErrNum, additionalMacros, RADIXSORT32_PATH);
-	b3Assert(sortProg);
-
-	m_streamCountSortDataKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "StreamCountSortDataKernel", &pErrNum, sortProg, additionalMacros);
-	b3Assert(m_streamCountSortDataKernel);
-
-	m_streamCountKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "StreamCountKernel", &pErrNum, sortProg, additionalMacros);
-	b3Assert(m_streamCountKernel);
-
-	if (m_deviceCPU)
-	{
-		m_sortAndScatterSortDataKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "SortAndScatterSortDataKernelSerial", &pErrNum, sortProg, additionalMacros);
-		b3Assert(m_sortAndScatterSortDataKernel);
-		m_sortAndScatterKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "SortAndScatterKernelSerial", &pErrNum, sortProg, additionalMacros);
-		b3Assert(m_sortAndScatterKernel);
-	}
-	else
-	{
-		m_sortAndScatterSortDataKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "SortAndScatterSortDataKernel", &pErrNum, sortProg, additionalMacros);
-		b3Assert(m_sortAndScatterSortDataKernel);
-		m_sortAndScatterKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "SortAndScatterKernel", &pErrNum, sortProg, additionalMacros);
-		b3Assert(m_sortAndScatterKernel);
-	}
-
-	m_prefixScanKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "PrefixScanKernel", &pErrNum, sortProg, additionalMacros);
-	b3Assert(m_prefixScanKernel);
-}
-
-b3RadixSort32CL::~b3RadixSort32CL()
-{
-	delete m_scan;
-	delete m_fill;
-	delete m_workBuffer1;
-	delete m_workBuffer2;
-	delete m_workBuffer3;
-	delete m_workBuffer3a;
-	delete m_workBuffer4;
-	delete m_workBuffer4a;
-
-	clReleaseKernel(m_streamCountSortDataKernel);
-	clReleaseKernel(m_streamCountKernel);
-	clReleaseKernel(m_sortAndScatterSortDataKernel);
-	clReleaseKernel(m_sortAndScatterKernel);
-	clReleaseKernel(m_prefixScanKernel);
-}
-
-void b3RadixSort32CL::executeHost(b3AlignedObjectArray<b3SortData>& inout, int sortBits /* = 32 */)
-{
-	int n = inout.size();
-	const int BITS_PER_PASS = 8;
-	const int NUM_TABLES = (1 << BITS_PER_PASS);
-
-	int tables[NUM_TABLES];
-	int counter[NUM_TABLES];
-
-	b3SortData* src = &inout[0];
-	b3AlignedObjectArray<b3SortData> workbuffer;
-	workbuffer.resize(inout.size());
-	b3SortData* dst = &workbuffer[0];
-
-	int count = 0;
-	for (int startBit = 0; startBit < sortBits; startBit += BITS_PER_PASS)
-	{
-		for (int i = 0; i < NUM_TABLES; i++)
-		{
-			tables[i] = 0;
-		}
-
-		for (int i = 0; i < n; i++)
-		{
-			int tableIdx = (src[i].m_key >> startBit) & (NUM_TABLES - 1);
-			tables[tableIdx]++;
-		}
-//#define TEST
-#ifdef TEST
-		printf("histogram size=%d\n", NUM_TABLES);
-		for (int i = 0; i < NUM_TABLES; i++)
-		{
-			if (tables[i] != 0)
-			{
-				printf("tables[%d]=%d]\n", i, tables[i]);
-			}
-		}
-#endif  //TEST \
-	//	prefix scan
-		int sum = 0;
-		for (int i = 0; i < NUM_TABLES; i++)
-		{
-			int iData = tables[i];
-			tables[i] = sum;
-			sum += iData;
-			counter[i] = 0;
-		}
-
-		//	distribute
-		for (int i = 0; i < n; i++)
-		{
-			int tableIdx = (src[i].m_key >> startBit) & (NUM_TABLES - 1);
-
-			dst[tables[tableIdx] + counter[tableIdx]] = src[i];
-			counter[tableIdx]++;
-		}
-
-		b3Swap(src, dst);
-		count++;
-	}
-
-	if (count & 1)
-	{
-		b3Assert(0);  //need to copy
-	}
-}
-
-void b3RadixSort32CL::executeHost(b3OpenCLArray<b3SortData>& keyValuesInOut, int sortBits /* = 32 */)
-{
-	b3AlignedObjectArray<b3SortData> inout;
-	keyValuesInOut.copyToHost(inout);
-
-	executeHost(inout, sortBits);
-
-	keyValuesInOut.copyFromHost(inout);
-}
-
-void b3RadixSort32CL::execute(b3OpenCLArray<unsigned int>& keysIn, b3OpenCLArray<unsigned int>& keysOut, b3OpenCLArray<unsigned int>& valuesIn,
-							  b3OpenCLArray<unsigned int>& valuesOut, int n, int sortBits)
-{
-}
-
-//#define DEBUG_RADIXSORT
-//#define DEBUG_RADIXSORT2
-
-void b3RadixSort32CL::execute(b3OpenCLArray<b3SortData>& keyValuesInOut, int sortBits /* = 32 */)
-{
-	int originalSize = keyValuesInOut.size();
-	int workingSize = originalSize;
-
-	int dataAlignment = DATA_ALIGNMENT;
-
-#ifdef DEBUG_RADIXSORT2
-	b3AlignedObjectArray<b3SortData> test2;
-	keyValuesInOut.copyToHost(test2);
-	printf("numElem = %d\n", test2.size());
-	for (int i = 0; i < test2.size(); i++)
-	{
-		printf("test2[%d].m_key=%d\n", i, test2[i].m_key);
-		printf("test2[%d].m_value=%d\n", i, test2[i].m_value);
-	}
-#endif  //DEBUG_RADIXSORT2
-
-	b3OpenCLArray<b3SortData>* src = 0;
-
-	if (workingSize % dataAlignment)
-	{
-		workingSize += dataAlignment - (workingSize % dataAlignment);
-		m_workBuffer4->copyFromOpenCLArray(keyValuesInOut);
-		m_workBuffer4->resize(workingSize);
-		b3SortData fillValue;
-		fillValue.m_key = 0xffffffff;
-		fillValue.m_value = 0xffffffff;
-
-#define USE_BTFILL
-#ifdef USE_BTFILL
-		m_fill->execute((b3OpenCLArray<b3Int2>&)*m_workBuffer4, (b3Int2&)fillValue, workingSize - originalSize, originalSize);
-#else
-		//fill the remaining bits (very slow way, todo: fill on GPU/OpenCL side)
-
-		for (int i = originalSize; i < workingSize; i++)
-		{
-			m_workBuffer4->copyFromHostPointer(&fillValue, 1, i);
-		}
-#endif  //USE_BTFILL
-
-		src = m_workBuffer4;
-	}
-	else
-	{
-		src = &keyValuesInOut;
-		m_workBuffer4->resize(0);
-	}
-
-	b3Assert(workingSize % DATA_ALIGNMENT == 0);
-	int minCap = NUM_BUCKET * NUM_WGS;
-
-	int n = workingSize;
-
-	m_workBuffer1->resize(minCap);
-	m_workBuffer3->resize(workingSize);
-
-	//	ADLASSERT( ELEMENTS_PER_WORK_ITEM == 4 );
-	b3Assert(BITS_PER_PASS == 4);
-	b3Assert(WG_SIZE == 64);
-	b3Assert((sortBits & 0x3) == 0);
-
-	b3OpenCLArray<b3SortData>* dst = m_workBuffer3;
-
-	b3OpenCLArray<unsigned int>* srcHisto = m_workBuffer1;
-	b3OpenCLArray<unsigned int>* destHisto = m_workBuffer2;
-
-	int nWGs = NUM_WGS;
-	b3ConstData cdata;
-
-	{
-		int blockSize = ELEMENTS_PER_WORK_ITEM * WG_SIZE;  //set at 256
-		int nBlocks = (n + blockSize - 1) / (blockSize);
-		cdata.m_n = n;
-		cdata.m_nWGs = NUM_WGS;
-		cdata.m_startBit = 0;
-		cdata.m_nBlocksPerWG = (nBlocks + cdata.m_nWGs - 1) / cdata.m_nWGs;
-		if (nBlocks < NUM_WGS)
-		{
-			cdata.m_nBlocksPerWG = 1;
-			nWGs = nBlocks;
-		}
-	}
-
-	int count = 0;
-	for (int ib = 0; ib < sortBits; ib += 4)
-	{
-#ifdef DEBUG_RADIXSORT2
-		keyValuesInOut.copyToHost(test2);
-		printf("numElem = %d\n", test2.size());
-		for (int i = 0; i < test2.size(); i++)
-		{
-			if (test2[i].m_key != test2[i].m_value)
-			{
-				printf("test2[%d].m_key=%d\n", i, test2[i].m_key);
-				printf("test2[%d].m_value=%d\n", i, test2[i].m_value);
-			}
-		}
-#endif  //DEBUG_RADIXSORT2
-
-		cdata.m_startBit = ib;
-
-		if (src->size())
-		{
-			b3BufferInfoCL bInfo[] = {b3BufferInfoCL(src->getBufferCL(), true), b3BufferInfoCL(srcHisto->getBufferCL())};
-			b3LauncherCL launcher(m_commandQueue, m_streamCountSortDataKernel, "m_streamCountSortDataKernel");
-
-			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(cdata);
-
-			int num = NUM_WGS * WG_SIZE;
-			launcher.launch1D(num, WG_SIZE);
-		}
-
-#ifdef DEBUG_RADIXSORT
-		b3AlignedObjectArray<unsigned int> testHist;
-		srcHisto->copyToHost(testHist);
-		printf("ib = %d, testHist size = %d, non zero elements:\n", ib, testHist.size());
-		for (int i = 0; i < testHist.size(); i++)
-		{
-			if (testHist[i] != 0)
-				printf("testHist[%d]=%d\n", i, testHist[i]);
-		}
-#endif  //DEBUG_RADIXSORT
-
-//fast prefix scan is not working properly on Mac OSX yet
-#ifdef __APPLE__
-		bool fastScan = false;
-#else
-		bool fastScan = !m_deviceCPU;  //only use fast scan on GPU
-#endif
-
-		if (fastScan)
-		{  //	prefix scan group histogram
-			b3BufferInfoCL bInfo[] = {b3BufferInfoCL(srcHisto->getBufferCL())};
-			b3LauncherCL launcher(m_commandQueue, m_prefixScanKernel, "m_prefixScanKernel");
-			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(cdata);
-			launcher.launch1D(128, 128);
-			destHisto = srcHisto;
-		}
-		else
-		{
-			//unsigned int sum; //for debugging
-			m_scan->execute(*srcHisto, *destHisto, 1920, 0);  //,&sum);
-		}
-
-#ifdef DEBUG_RADIXSORT
-		destHisto->copyToHost(testHist);
-		printf("ib = %d, testHist size = %d, non zero elements:\n", ib, testHist.size());
-		for (int i = 0; i < testHist.size(); i++)
-		{
-			if (testHist[i] != 0)
-				printf("testHist[%d]=%d\n", i, testHist[i]);
-		}
-
-		for (int i = 0; i < testHist.size(); i += NUM_WGS)
-		{
-			printf("testHist[%d]=%d\n", i / NUM_WGS, testHist[i]);
-		}
-
-#endif  //DEBUG_RADIXSORT
-
-#define USE_GPU
-#ifdef USE_GPU
-
-		if (src->size())
-		{  //	local sort and distribute
-			b3BufferInfoCL bInfo[] = {b3BufferInfoCL(src->getBufferCL(), true), b3BufferInfoCL(destHisto->getBufferCL(), true), b3BufferInfoCL(dst->getBufferCL())};
-			b3LauncherCL launcher(m_commandQueue, m_sortAndScatterSortDataKernel, "m_sortAndScatterSortDataKernel");
-			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(cdata);
-			launcher.launch1D(nWGs * WG_SIZE, WG_SIZE);
-		}
-#else
-		{
-#define NUM_TABLES 16
-//#define SEQUENTIAL
-#ifdef SEQUENTIAL
-			int counter2[NUM_TABLES] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
-			int tables[NUM_TABLES];
-			int startBit = ib;
-
-			destHisto->copyToHost(testHist);
-			b3AlignedObjectArray<b3SortData> srcHost;
-			b3AlignedObjectArray<b3SortData> dstHost;
-			dstHost.resize(src->size());
-
-			src->copyToHost(srcHost);
-
-			for (int i = 0; i < NUM_TABLES; i++)
-			{
-				tables[i] = testHist[i * NUM_WGS];
-			}
-
-			//	distribute
-			for (int i = 0; i < n; i++)
-			{
-				int tableIdx = (srcHost[i].m_key >> startBit) & (NUM_TABLES - 1);
-
-				dstHost[tables[tableIdx] + counter2[tableIdx]] = srcHost[i];
-				counter2[tableIdx]++;
-			}
-
-#else
-
-			int counter2[NUM_TABLES] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
-
-			int tables[NUM_TABLES];
-			b3AlignedObjectArray<b3SortData> dstHostOK;
-			dstHostOK.resize(src->size());
-
-			destHisto->copyToHost(testHist);
-			b3AlignedObjectArray<b3SortData> srcHost;
-			src->copyToHost(srcHost);
-
-			int blockSize = 256;
-			int nBlocksPerWG = cdata.m_nBlocksPerWG;
-			int startBit = ib;
-
-			{
-				for (int i = 0; i < NUM_TABLES; i++)
-				{
-					tables[i] = testHist[i * NUM_WGS];
-				}
-
-				//	distribute
-				for (int i = 0; i < n; i++)
-				{
-					int tableIdx = (srcHost[i].m_key >> startBit) & (NUM_TABLES - 1);
-
-					dstHostOK[tables[tableIdx] + counter2[tableIdx]] = srcHost[i];
-					counter2[tableIdx]++;
-				}
-			}
-
-			b3AlignedObjectArray<b3SortData> dstHost;
-			dstHost.resize(src->size());
-
-			int counter[NUM_TABLES] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
-
-			for (int wgIdx = 0; wgIdx < NUM_WGS; wgIdx++)
-			{
-				int counter[NUM_TABLES] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
-
-				int nBlocks = (n) / blockSize - nBlocksPerWG * wgIdx;
-
-				for (int iblock = 0; iblock < b3Min(cdata.m_nBlocksPerWG, nBlocks); iblock++)
-				{
-					for (int lIdx = 0; lIdx < 64; lIdx++)
-					{
-						int addr = iblock * blockSize + blockSize * cdata.m_nBlocksPerWG * wgIdx + ELEMENTS_PER_WORK_ITEM * lIdx;
-
-						//	MY_HISTOGRAM( localKeys.x ) ++ is much expensive than atomic add as it requires read and write while atomics can just add on AMD
-						//	Using registers didn't perform well. It seems like use localKeys to address requires a lot of alu ops
-						//	AMD: AtomInc performs better while NV prefers ++
-						for (int j = 0; j < ELEMENTS_PER_WORK_ITEM; j++)
-						{
-							if (addr + j < n)
-							{
-								//  printf ("addr+j=%d\n", addr+j);
-
-								int i = addr + j;
-
-								int tableIdx = (srcHost[i].m_key >> startBit) & (NUM_TABLES - 1);
-
-								int destIndex = testHist[tableIdx * NUM_WGS + wgIdx] + counter[tableIdx];
-
-								b3SortData ok = dstHostOK[destIndex];
-
-								if (ok.m_key != srcHost[i].m_key)
-								{
-									printf("ok.m_key = %d, srcHost[i].m_key = %d\n", ok.m_key, srcHost[i].m_key);
-									printf("(ok.m_value = %d, srcHost[i].m_value = %d)\n", ok.m_value, srcHost[i].m_value);
-								}
-								if (ok.m_value != srcHost[i].m_value)
-								{
-									printf("ok.m_value = %d, srcHost[i].m_value = %d\n", ok.m_value, srcHost[i].m_value);
-									printf("(ok.m_key = %d, srcHost[i].m_key = %d)\n", ok.m_key, srcHost[i].m_key);
-								}
-
-								dstHost[destIndex] = srcHost[i];
-								counter[tableIdx]++;
-							}
-						}
-					}
-				}
-			}
-
-#endif  //SEQUENTIAL
-
-			dst->copyFromHost(dstHost);
-		}
-#endif  //USE_GPU
-
-#ifdef DEBUG_RADIXSORT
-		destHisto->copyToHost(testHist);
-		printf("ib = %d, testHist size = %d, non zero elements:\n", ib, testHist.size());
-		for (int i = 0; i < testHist.size(); i++)
-		{
-			if (testHist[i] != 0)
-				printf("testHist[%d]=%d\n", i, testHist[i]);
-		}
-#endif  //DEBUG_RADIXSORT
-		b3Swap(src, dst);
-		b3Swap(srcHisto, destHisto);
-
-#ifdef DEBUG_RADIXSORT2
-		keyValuesInOut.copyToHost(test2);
-		printf("numElem = %d\n", test2.size());
-		for (int i = 0; i < test2.size(); i++)
-		{
-			if (test2[i].m_key != test2[i].m_value)
-			{
-				printf("test2[%d].m_key=%d\n", i, test2[i].m_key);
-				printf("test2[%d].m_value=%d\n", i, test2[i].m_value);
-			}
-		}
-#endif  //DEBUG_RADIXSORT2
-
-		count++;
-	}
-
-	if (count & 1)
-	{
-		b3Assert(0);  //need to copy from workbuffer to keyValuesInOut
-	}
-
-	if (m_workBuffer4->size())
-	{
-		m_workBuffer4->resize(originalSize);
-		keyValuesInOut.copyFromOpenCLArray(*m_workBuffer4);
-	}
-
-#ifdef DEBUG_RADIXSORT
-	keyValuesInOut.copyToHost(test2);
-
-	printf("numElem = %d\n", test2.size());
-	for (int i = 0; i < test2.size(); i++)
-	{
-		printf("test2[%d].m_key=%d\n", i, test2[i].m_key);
-		printf("test2[%d].m_value=%d\n", i, test2[i].m_value);
-	}
-#endif
-}
-
-void b3RadixSort32CL::execute(b3OpenCLArray<unsigned int>& keysInOut, int sortBits /* = 32 */)
-{
-	int originalSize = keysInOut.size();
-	int workingSize = originalSize;
-
-	int dataAlignment = DATA_ALIGNMENT;
-
-	b3OpenCLArray<unsigned int>* src = 0;
-
-	if (workingSize % dataAlignment)
-	{
-		workingSize += dataAlignment - (workingSize % dataAlignment);
-		m_workBuffer4a->copyFromOpenCLArray(keysInOut);
-		m_workBuffer4a->resize(workingSize);
-		unsigned int fillValue = 0xffffffff;
-
-		m_fill->execute(*m_workBuffer4a, fillValue, workingSize - originalSize, originalSize);
-
-		src = m_workBuffer4a;
-	}
-	else
-	{
-		src = &keysInOut;
-		m_workBuffer4a->resize(0);
-	}
-
-	b3Assert(workingSize % DATA_ALIGNMENT == 0);
-	int minCap = NUM_BUCKET * NUM_WGS;
-
-	int n = workingSize;
-
-	m_workBuffer1->resize(minCap);
-	m_workBuffer3->resize(workingSize);
-	m_workBuffer3a->resize(workingSize);
-
-	//	ADLASSERT( ELEMENTS_PER_WORK_ITEM == 4 );
-	b3Assert(BITS_PER_PASS == 4);
-	b3Assert(WG_SIZE == 64);
-	b3Assert((sortBits & 0x3) == 0);
-
-	b3OpenCLArray<unsigned int>* dst = m_workBuffer3a;
-
-	b3OpenCLArray<unsigned int>* srcHisto = m_workBuffer1;
-	b3OpenCLArray<unsigned int>* destHisto = m_workBuffer2;
-
-	int nWGs = NUM_WGS;
-	b3ConstData cdata;
-
-	{
-		int blockSize = ELEMENTS_PER_WORK_ITEM * WG_SIZE;  //set at 256
-		int nBlocks = (n + blockSize - 1) / (blockSize);
-		cdata.m_n = n;
-		cdata.m_nWGs = NUM_WGS;
-		cdata.m_startBit = 0;
-		cdata.m_nBlocksPerWG = (nBlocks + cdata.m_nWGs - 1) / cdata.m_nWGs;
-		if (nBlocks < NUM_WGS)
-		{
-			cdata.m_nBlocksPerWG = 1;
-			nWGs = nBlocks;
-		}
-	}
-
-	int count = 0;
-	for (int ib = 0; ib < sortBits; ib += 4)
-	{
-		cdata.m_startBit = ib;
-
-		if (src->size())
-		{
-			b3BufferInfoCL bInfo[] = {b3BufferInfoCL(src->getBufferCL(), true), b3BufferInfoCL(srcHisto->getBufferCL())};
-			b3LauncherCL launcher(m_commandQueue, m_streamCountKernel, "m_streamCountKernel");
-
-			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(cdata);
-
-			int num = NUM_WGS * WG_SIZE;
-			launcher.launch1D(num, WG_SIZE);
-		}
-
-//fast prefix scan is not working properly on Mac OSX yet
-#ifdef __APPLE__
-		bool fastScan = false;
-#else
-		bool fastScan = !m_deviceCPU;
-#endif
-
-		if (fastScan)
-		{  //	prefix scan group histogram
-			b3BufferInfoCL bInfo[] = {b3BufferInfoCL(srcHisto->getBufferCL())};
-			b3LauncherCL launcher(m_commandQueue, m_prefixScanKernel, "m_prefixScanKernel");
-			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(cdata);
-			launcher.launch1D(128, 128);
-			destHisto = srcHisto;
-		}
-		else
-		{
-			//unsigned int sum; //for debugging
-			m_scan->execute(*srcHisto, *destHisto, 1920, 0);  //,&sum);
-		}
-
-		if (src->size())
-		{  //	local sort and distribute
-			b3BufferInfoCL bInfo[] = {b3BufferInfoCL(src->getBufferCL(), true), b3BufferInfoCL(destHisto->getBufferCL(), true), b3BufferInfoCL(dst->getBufferCL())};
-			b3LauncherCL launcher(m_commandQueue, m_sortAndScatterKernel, "m_sortAndScatterKernel");
-			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(cdata);
-			launcher.launch1D(nWGs * WG_SIZE, WG_SIZE);
-		}
-
-		b3Swap(src, dst);
-		b3Swap(srcHisto, destHisto);
-
-		count++;
-	}
-
-	if (count & 1)
-	{
-		b3Assert(0);  //need to copy from workbuffer to keyValuesInOut
-	}
-
-	if (m_workBuffer4a->size())
-	{
-		m_workBuffer4a->resize(originalSize);
-		keysInOut.copyFromOpenCLArray(*m_workBuffer4a);
-	}
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h
deleted file mode 100644
index 69caf182d7..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h
+++ /dev/null
@@ -1,84 +0,0 @@
-
-#ifndef B3_RADIXSORT32_H
-#define B3_RADIXSORT32_H
-
-#include "b3OpenCLArray.h"
-
-struct b3SortData
-{
-	union {
-		unsigned int m_key;
-		unsigned int x;
-	};
-
-	union {
-		unsigned int m_value;
-		unsigned int y;
-	};
-};
-#include "b3BufferInfoCL.h"
-
-class b3RadixSort32CL
-{
-	b3OpenCLArray<unsigned int>* m_workBuffer1;
-	b3OpenCLArray<unsigned int>* m_workBuffer2;
-
-	b3OpenCLArray<b3SortData>* m_workBuffer3;
-	b3OpenCLArray<b3SortData>* m_workBuffer4;
-
-	b3OpenCLArray<unsigned int>* m_workBuffer3a;
-	b3OpenCLArray<unsigned int>* m_workBuffer4a;
-
-	cl_command_queue m_commandQueue;
-
-	cl_kernel m_streamCountSortDataKernel;
-	cl_kernel m_streamCountKernel;
-
-	cl_kernel m_prefixScanKernel;
-	cl_kernel m_sortAndScatterSortDataKernel;
-	cl_kernel m_sortAndScatterKernel;
-
-	bool m_deviceCPU;
-
-	class b3PrefixScanCL* m_scan;
-	class b3FillCL* m_fill;
-
-public:
-	struct b3ConstData
-	{
-		int m_n;
-		int m_nWGs;
-		int m_startBit;
-		int m_nBlocksPerWG;
-	};
-	enum
-	{
-		DATA_ALIGNMENT = 256,
-		WG_SIZE = 64,
-		BLOCK_SIZE = 256,
-		ELEMENTS_PER_WORK_ITEM = (BLOCK_SIZE / WG_SIZE),
-		BITS_PER_PASS = 4,
-		NUM_BUCKET = (1 << BITS_PER_PASS),
-		//	if you change this, change nPerWI in kernel as well
-		NUM_WGS = 20 * 6,  //	cypress
-						   //			NUM_WGS = 24*6,	//	cayman
-						   //			NUM_WGS = 32*4,	//	nv
-	};
-
-private:
-public:
-	b3RadixSort32CL(cl_context ctx, cl_device_id device, cl_command_queue queue, int initialCapacity = 0);
-
-	virtual ~b3RadixSort32CL();
-
-	void execute(b3OpenCLArray<unsigned int>& keysIn, b3OpenCLArray<unsigned int>& keysOut, b3OpenCLArray<unsigned int>& valuesIn,
-				 b3OpenCLArray<unsigned int>& valuesOut, int n, int sortBits = 32);
-
-	///keys only
-	void execute(b3OpenCLArray<unsigned int>& keysInOut, int sortBits = 32);
-
-	void execute(b3OpenCLArray<b3SortData>& keyValuesInOut, int sortBits = 32);
-	void executeHost(b3OpenCLArray<b3SortData>& keyValuesInOut, int sortBits = 32);
-	void executeHost(b3AlignedObjectArray<b3SortData>& keyValuesInOut, int sortBits = 32);
-};
-#endif  //B3_RADIXSORT32_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/BoundSearchKernels.cl b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/BoundSearchKernels.cl
deleted file mode 100644
index f3b4a1e8a7..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/BoundSearchKernels.cl
+++ /dev/null
@@ -1,106 +0,0 @@
-/*
-Copyright (c) 2012 Advanced Micro Devices, 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.
-*/
-//Originally written by Takahiro Harada
-
-
-typedef unsigned int u32;
-#define GET_GROUP_IDX get_group_id(0)
-#define GET_LOCAL_IDX get_local_id(0)
-#define GET_GLOBAL_IDX get_global_id(0)
-#define GET_GROUP_SIZE get_local_size(0)
-#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
-
-typedef struct
-{
-	u32 m_key; 
-	u32 m_value;
-}SortData;
-
-
-
-typedef struct
-{
-	u32 m_nSrc;
-	u32 m_nDst;
-	u32 m_padding[2];
-} ConstBuffer;
-
-
-
-__attribute__((reqd_work_group_size(64,1,1)))
-__kernel
-void SearchSortDataLowerKernel(__global SortData* src, __global u32 *dst, 
-					unsigned int nSrc, unsigned int nDst)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < nSrc )
-	{
-		SortData first; first.m_key = (u32)(-1); first.m_value = (u32)(-1);
-		SortData end; end.m_key = nDst; end.m_value = nDst;
-
-		SortData iData = (gIdx==0)? first: src[gIdx-1];
-		SortData jData = (gIdx==nSrc)? end: src[gIdx];
-
-		if( iData.m_key != jData.m_key )
-		{
-//			for(u32 k=iData.m_key+1; k<=min(jData.m_key, nDst-1); k++)
-			u32 k = jData.m_key;
-			{
-				dst[k] = gIdx;
-			}
-		}
-	}
-}
-
-
-__attribute__((reqd_work_group_size(64,1,1)))
-__kernel
-void SearchSortDataUpperKernel(__global SortData* src, __global u32 *dst, 
-					unsigned int nSrc, unsigned int nDst)
-{
-	int gIdx = GET_GLOBAL_IDX+1;
-
-	if( gIdx < nSrc+1 )
-	{
-		SortData first; first.m_key = 0; first.m_value = 0;
-		SortData end; end.m_key = nDst; end.m_value = nDst;
-
-		SortData iData = src[gIdx-1];
-		SortData jData = (gIdx==nSrc)? end: src[gIdx];
-
-		if( iData.m_key != jData.m_key )
-		{
-			u32 k = iData.m_key;
-			{
-				dst[k] = gIdx;
-			}
-		}
-	}
-}
-
-__attribute__((reqd_work_group_size(64,1,1)))
-__kernel
-void SubtractKernel(__global u32* A, __global u32 *B, __global u32 *C, 
-					unsigned int nSrc, unsigned int nDst)
-{
-	int gIdx = GET_GLOBAL_IDX;
-	
-
-	if( gIdx < nDst )
-	{
-		C[gIdx] = A[gIdx] - B[gIdx];
-	}
-}
-
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/BoundSearchKernelsCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/BoundSearchKernelsCL.h
deleted file mode 100644
index 1758dd41e3..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/BoundSearchKernelsCL.h
+++ /dev/null
@@ -1,86 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* boundSearchKernelsCL =
-	"/*\n"
-	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-	"This software is provided 'as-is', without any express or implied warranty.\n"
-	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-	"Permission is granted to anyone to use this software for any purpose, \n"
-	"including commercial applications, and to alter it and redistribute it freely, \n"
-	"subject to the following restrictions:\n"
-	"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.\n"
-	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-	"3. This notice may not be removed or altered from any source distribution.\n"
-	"*/\n"
-	"//Originally written by Takahiro Harada\n"
-	"typedef unsigned int u32;\n"
-	"#define GET_GROUP_IDX get_group_id(0)\n"
-	"#define GET_LOCAL_IDX get_local_id(0)\n"
-	"#define GET_GLOBAL_IDX get_global_id(0)\n"
-	"#define GET_GROUP_SIZE get_local_size(0)\n"
-	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-	"typedef struct\n"
-	"{\n"
-	"	u32 m_key; \n"
-	"	u32 m_value;\n"
-	"}SortData;\n"
-	"typedef struct\n"
-	"{\n"
-	"	u32 m_nSrc;\n"
-	"	u32 m_nDst;\n"
-	"	u32 m_padding[2];\n"
-	"} ConstBuffer;\n"
-	"__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"__kernel\n"
-	"void SearchSortDataLowerKernel(__global SortData* src, __global u32 *dst, \n"
-	"					unsigned int nSrc, unsigned int nDst)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	if( gIdx < nSrc )\n"
-	"	{\n"
-	"		SortData first; first.m_key = (u32)(-1); first.m_value = (u32)(-1);\n"
-	"		SortData end; end.m_key = nDst; end.m_value = nDst;\n"
-	"		SortData iData = (gIdx==0)? first: src[gIdx-1];\n"
-	"		SortData jData = (gIdx==nSrc)? end: src[gIdx];\n"
-	"		if( iData.m_key != jData.m_key )\n"
-	"		{\n"
-	"//			for(u32 k=iData.m_key+1; k<=min(jData.m_key, nDst-1); k++)\n"
-	"			u32 k = jData.m_key;\n"
-	"			{\n"
-	"				dst[k] = gIdx;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"}\n"
-	"__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"__kernel\n"
-	"void SearchSortDataUpperKernel(__global SortData* src, __global u32 *dst, \n"
-	"					unsigned int nSrc, unsigned int nDst)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX+1;\n"
-	"	if( gIdx < nSrc+1 )\n"
-	"	{\n"
-	"		SortData first; first.m_key = 0; first.m_value = 0;\n"
-	"		SortData end; end.m_key = nDst; end.m_value = nDst;\n"
-	"		SortData iData = src[gIdx-1];\n"
-	"		SortData jData = (gIdx==nSrc)? end: src[gIdx];\n"
-	"		if( iData.m_key != jData.m_key )\n"
-	"		{\n"
-	"			u32 k = iData.m_key;\n"
-	"			{\n"
-	"				dst[k] = gIdx;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"}\n"
-	"__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"__kernel\n"
-	"void SubtractKernel(__global u32* A, __global u32 *B, __global u32 *C, \n"
-	"					unsigned int nSrc, unsigned int nDst)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	\n"
-	"	if( gIdx < nDst )\n"
-	"	{\n"
-	"		C[gIdx] = A[gIdx] - B[gIdx];\n"
-	"	}\n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/CopyKernels.cl b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/CopyKernels.cl
deleted file mode 100644
index 2eee5752ec..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/CopyKernels.cl
+++ /dev/null
@@ -1,128 +0,0 @@
-/*
-Copyright (c) 2012 Advanced Micro Devices, 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.
-*/
-//Originally written by Takahiro Harada
-
-#pragma OPENCL EXTENSION cl_amd_printf : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
-
-typedef unsigned int u32;
-#define GET_GROUP_IDX get_group_id(0)
-#define GET_LOCAL_IDX get_local_id(0)
-#define GET_GLOBAL_IDX get_global_id(0)
-#define GET_GROUP_SIZE get_local_size(0)
-#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
-#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)
-#define AtomInc(x) atom_inc(&(x))
-#define AtomInc1(x, out) out = atom_inc(&(x))
-
-#define make_uint4 (uint4)
-#define make_uint2 (uint2)
-#define make_int2 (int2)
-
-typedef struct
-{
-	int m_n;
-	int m_padding[3];
-} ConstBuffer;
-
-
-
-__kernel
-__attribute__((reqd_work_group_size(64,1,1)))
-void Copy1F4Kernel(__global float4* dst, __global float4* src, 
-					ConstBuffer cb)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < cb.m_n )
-	{
-		float4 a0 = src[gIdx];
-
-		dst[ gIdx ] = a0;
-	}
-}
-
-__kernel
-__attribute__((reqd_work_group_size(64,1,1)))
-void Copy2F4Kernel(__global float4* dst, __global float4* src, 
-					ConstBuffer cb)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( 2*gIdx <= cb.m_n )
-	{
-		float4 a0 = src[gIdx*2+0];
-		float4 a1 = src[gIdx*2+1];
-
-		dst[ gIdx*2+0 ] = a0;
-		dst[ gIdx*2+1 ] = a1;
-	}
-}
-
-__kernel
-__attribute__((reqd_work_group_size(64,1,1)))
-void Copy4F4Kernel(__global float4* dst, __global float4* src, 
-					ConstBuffer cb)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( 4*gIdx <= cb.m_n )
-	{
-		int idx0 = gIdx*4+0;
-		int idx1 = gIdx*4+1;
-		int idx2 = gIdx*4+2;
-		int idx3 = gIdx*4+3;
-
-		float4 a0 = src[idx0];
-		float4 a1 = src[idx1];
-		float4 a2 = src[idx2];
-		float4 a3 = src[idx3];
-
-		dst[ idx0 ] = a0;
-		dst[ idx1 ] = a1;
-		dst[ idx2 ] = a2;
-		dst[ idx3 ] = a3;
-	}
-}
-
-__kernel
-__attribute__((reqd_work_group_size(64,1,1)))
-void CopyF1Kernel(__global float* dstF1, __global float* srcF1, 
-					ConstBuffer cb)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < cb.m_n )
-	{
-		float a0 = srcF1[gIdx];
-
-		dstF1[ gIdx ] = a0;
-	}
-}
-
-__kernel
-__attribute__((reqd_work_group_size(64,1,1)))
-void CopyF2Kernel(__global float2* dstF2, __global float2* srcF2, 
-					ConstBuffer cb)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < cb.m_n )
-	{
-		float2 a0 = srcF2[gIdx];
-
-		dstF2[ gIdx ] = a0;
-	}
-}
-
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/CopyKernelsCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/CopyKernelsCL.h
deleted file mode 100644
index 33c9279462..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/CopyKernelsCL.h
+++ /dev/null
@@ -1,131 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* copyKernelsCL =
-	"/*\n"
-	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-	"\n"
-	"This software is provided 'as-is', without any express or implied warranty.\n"
-	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-	"Permission is granted to anyone to use this software for any purpose, \n"
-	"including commercial applications, and to alter it and redistribute it freely, \n"
-	"subject to the following restrictions:\n"
-	"\n"
-	"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.\n"
-	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-	"3. This notice may not be removed or altered from any source distribution.\n"
-	"*/\n"
-	"//Originally written by Takahiro Harada\n"
-	"\n"
-	"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
-	"\n"
-	"typedef unsigned int u32;\n"
-	"#define GET_GROUP_IDX get_group_id(0)\n"
-	"#define GET_LOCAL_IDX get_local_id(0)\n"
-	"#define GET_GLOBAL_IDX get_global_id(0)\n"
-	"#define GET_GROUP_SIZE get_local_size(0)\n"
-	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-	"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
-	"#define AtomInc(x) atom_inc(&(x))\n"
-	"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
-	"\n"
-	"#define make_uint4 (uint4)\n"
-	"#define make_uint2 (uint2)\n"
-	"#define make_int2 (int2)\n"
-	"\n"
-	"typedef struct\n"
-	"{\n"
-	"	int m_n;\n"
-	"	int m_padding[3];\n"
-	"} ConstBuffer;\n"
-	"\n"
-	"\n"
-	"\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"void Copy1F4Kernel(__global float4* dst, __global float4* src, \n"
-	"					ConstBuffer cb)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"\n"
-	"	if( gIdx < cb.m_n )\n"
-	"	{\n"
-	"		float4 a0 = src[gIdx];\n"
-	"\n"
-	"		dst[ gIdx ] = a0;\n"
-	"	}\n"
-	"}\n"
-	"\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"void Copy2F4Kernel(__global float4* dst, __global float4* src, \n"
-	"					ConstBuffer cb)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"\n"
-	"	if( 2*gIdx <= cb.m_n )\n"
-	"	{\n"
-	"		float4 a0 = src[gIdx*2+0];\n"
-	"		float4 a1 = src[gIdx*2+1];\n"
-	"\n"
-	"		dst[ gIdx*2+0 ] = a0;\n"
-	"		dst[ gIdx*2+1 ] = a1;\n"
-	"	}\n"
-	"}\n"
-	"\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"void Copy4F4Kernel(__global float4* dst, __global float4* src, \n"
-	"					ConstBuffer cb)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"\n"
-	"	if( 4*gIdx <= cb.m_n )\n"
-	"	{\n"
-	"		int idx0 = gIdx*4+0;\n"
-	"		int idx1 = gIdx*4+1;\n"
-	"		int idx2 = gIdx*4+2;\n"
-	"		int idx3 = gIdx*4+3;\n"
-	"\n"
-	"		float4 a0 = src[idx0];\n"
-	"		float4 a1 = src[idx1];\n"
-	"		float4 a2 = src[idx2];\n"
-	"		float4 a3 = src[idx3];\n"
-	"\n"
-	"		dst[ idx0 ] = a0;\n"
-	"		dst[ idx1 ] = a1;\n"
-	"		dst[ idx2 ] = a2;\n"
-	"		dst[ idx3 ] = a3;\n"
-	"	}\n"
-	"}\n"
-	"\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"void CopyF1Kernel(__global float* dstF1, __global float* srcF1, \n"
-	"					ConstBuffer cb)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"\n"
-	"	if( gIdx < cb.m_n )\n"
-	"	{\n"
-	"		float a0 = srcF1[gIdx];\n"
-	"\n"
-	"		dstF1[ gIdx ] = a0;\n"
-	"	}\n"
-	"}\n"
-	"\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"void CopyF2Kernel(__global float2* dstF2, __global float2* srcF2, \n"
-	"					ConstBuffer cb)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"\n"
-	"	if( gIdx < cb.m_n )\n"
-	"	{\n"
-	"		float2 a0 = srcF2[gIdx];\n"
-	"\n"
-	"		dstF2[ gIdx ] = a0;\n"
-	"	}\n"
-	"}\n"
-	"\n"
-	"\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/FillKernels.cl b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/FillKernels.cl
deleted file mode 100644
index 71c31075dd..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/FillKernels.cl
+++ /dev/null
@@ -1,107 +0,0 @@
-/*
-Copyright (c) 2012 Advanced Micro Devices, 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.
-*/
-//Originally written by Takahiro Harada
-
-
-#pragma OPENCL EXTENSION cl_amd_printf : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
-
-typedef unsigned int u32;
-#define GET_GROUP_IDX get_group_id(0)
-#define GET_LOCAL_IDX get_local_id(0)
-#define GET_GLOBAL_IDX get_global_id(0)
-#define GET_GROUP_SIZE get_local_size(0)
-#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
-#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)
-#define AtomInc(x) atom_inc(&(x))
-#define AtomInc1(x, out) out = atom_inc(&(x))
-
-#define make_uint4 (uint4)
-#define make_uint2 (uint2)
-#define make_int2 (int2)
-
-typedef struct
-{
-	union
-	{
-		int4 m_data;
-		uint4 m_unsignedData;
-		float	m_floatData;
-	};
-	int m_offset;
-	int m_n;
-	int m_padding[2];
-} ConstBuffer;
-
-
-__kernel
-__attribute__((reqd_work_group_size(64,1,1)))
-void FillIntKernel(__global int* dstInt, 			int num_elements, int value, const int offset)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < num_elements )
-	{
-		dstInt[ offset+gIdx ] = value;
-	}
-}
-
-__kernel
-__attribute__((reqd_work_group_size(64,1,1)))
-void FillFloatKernel(__global float* dstFloat, 	int num_elements, float value, const int offset)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < num_elements )
-	{
-		dstFloat[ offset+gIdx ] = value;
-	}
-}
-
-__kernel
-__attribute__((reqd_work_group_size(64,1,1)))
-void FillUnsignedIntKernel(__global unsigned int* dstInt, const int num, const unsigned int value, const int offset)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < num )
-	{
-		dstInt[ offset+gIdx ] = value;
-	}
-}
-
-__kernel
-__attribute__((reqd_work_group_size(64,1,1)))
-void FillInt2Kernel(__global int2* dstInt2, 	const int num, const int2 value, const int offset)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < num )
-	{
-		dstInt2[ gIdx + offset] = make_int2( value.x, value.y );
-	}
-}
-
-__kernel
-__attribute__((reqd_work_group_size(64,1,1)))
-void FillInt4Kernel(__global int4* dstInt4, 		const int num, const int4 value, const int offset)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < num )
-	{
-		dstInt4[ offset+gIdx ] = value;
-	}
-}
-
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/FillKernelsCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/FillKernelsCL.h
deleted file mode 100644
index 983e652270..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/FillKernelsCL.h
+++ /dev/null
@@ -1,90 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* fillKernelsCL =
-	"/*\n"
-	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-	"This software is provided 'as-is', without any express or implied warranty.\n"
-	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-	"Permission is granted to anyone to use this software for any purpose, \n"
-	"including commercial applications, and to alter it and redistribute it freely, \n"
-	"subject to the following restrictions:\n"
-	"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.\n"
-	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-	"3. This notice may not be removed or altered from any source distribution.\n"
-	"*/\n"
-	"//Originally written by Takahiro Harada\n"
-	"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
-	"typedef unsigned int u32;\n"
-	"#define GET_GROUP_IDX get_group_id(0)\n"
-	"#define GET_LOCAL_IDX get_local_id(0)\n"
-	"#define GET_GLOBAL_IDX get_global_id(0)\n"
-	"#define GET_GROUP_SIZE get_local_size(0)\n"
-	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-	"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
-	"#define AtomInc(x) atom_inc(&(x))\n"
-	"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
-	"#define make_uint4 (uint4)\n"
-	"#define make_uint2 (uint2)\n"
-	"#define make_int2 (int2)\n"
-	"typedef struct\n"
-	"{\n"
-	"	union\n"
-	"	{\n"
-	"		int4 m_data;\n"
-	"		uint4 m_unsignedData;\n"
-	"		float	m_floatData;\n"
-	"	};\n"
-	"	int m_offset;\n"
-	"	int m_n;\n"
-	"	int m_padding[2];\n"
-	"} ConstBuffer;\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"void FillIntKernel(__global int* dstInt, 			int num_elements, int value, const int offset)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	if( gIdx < num_elements )\n"
-	"	{\n"
-	"		dstInt[ offset+gIdx ] = value;\n"
-	"	}\n"
-	"}\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"void FillFloatKernel(__global float* dstFloat, 	int num_elements, float value, const int offset)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	if( gIdx < num_elements )\n"
-	"	{\n"
-	"		dstFloat[ offset+gIdx ] = value;\n"
-	"	}\n"
-	"}\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"void FillUnsignedIntKernel(__global unsigned int* dstInt, const int num, const unsigned int value, const int offset)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	if( gIdx < num )\n"
-	"	{\n"
-	"		dstInt[ offset+gIdx ] = value;\n"
-	"	}\n"
-	"}\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"void FillInt2Kernel(__global int2* dstInt2, 	const int num, const int2 value, const int offset)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	if( gIdx < num )\n"
-	"	{\n"
-	"		dstInt2[ gIdx + offset] = make_int2( value.x, value.y );\n"
-	"	}\n"
-	"}\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"void FillInt4Kernel(__global int4* dstInt4, 		const int num, const int4 value, const int offset)\n"
-	"{\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	if( gIdx < num )\n"
-	"	{\n"
-	"		dstInt4[ offset+gIdx ] = value;\n"
-	"	}\n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanFloat4Kernels.cl b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanFloat4Kernels.cl
deleted file mode 100644
index c9da79854a..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanFloat4Kernels.cl
+++ /dev/null
@@ -1,154 +0,0 @@
-/*
-Copyright (c) 2012 Advanced Micro Devices, 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.
-*/
-//Originally written by Takahiro Harada
-
-
-typedef unsigned int u32;
-#define GET_GROUP_IDX get_group_id(0)
-#define GET_LOCAL_IDX get_local_id(0)
-#define GET_GLOBAL_IDX get_global_id(0)
-#define GET_GROUP_SIZE get_local_size(0)
-#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
-
-// takahiro end
-#define WG_SIZE 128 
-#define m_numElems x
-#define m_numBlocks y
-#define m_numScanBlocks z
-
-/*typedef struct
-{
-	uint m_numElems;
-	uint m_numBlocks;
-	uint m_numScanBlocks;
-	uint m_padding[1];
-} ConstBuffer;
-*/
-
-float4 ScanExclusiveFloat4(__local float4* data, u32 n, int lIdx, int lSize)
-{
-	float4 blocksum;
-    int offset = 1;
-    for(int nActive=n>>1; nActive>0; nActive>>=1, offset<<=1)
-    {
-        GROUP_LDS_BARRIER;
-        for(int iIdx=lIdx; iIdx<nActive; iIdx+=lSize)
-        {
-            int ai = offset*(2*iIdx+1)-1;
-            int bi = offset*(2*iIdx+2)-1;
-            data[bi] += data[ai];
-        }
-	}
-
-    GROUP_LDS_BARRIER;
-
-    if( lIdx == 0 )
-	{
-		blocksum = data[ n-1 ];
-    data[ n-1 ] = 0;
-	}
-
-	GROUP_LDS_BARRIER;
-
-	offset >>= 1;
-    for(int nActive=1; nActive<n; nActive<<=1, offset>>=1 )
-    {
-        GROUP_LDS_BARRIER;
-        for( int iIdx = lIdx; iIdx<nActive; iIdx += lSize )
-        {
-            int ai = offset*(2*iIdx+1)-1;
-            int bi = offset*(2*iIdx+2)-1;
-            float4 temp = data[ai];
-            data[ai] = data[bi];
-            data[bi] += temp;
-        }
-	}
-	GROUP_LDS_BARRIER;
-
-	return blocksum;
-}
-
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-__kernel
-void LocalScanKernel(__global float4* dst, __global float4* src, __global float4* sumBuffer,	uint4 cb)
-{
-	__local float4 ldsData[WG_SIZE*2];
-
-	int gIdx = GET_GLOBAL_IDX;
-	int lIdx = GET_LOCAL_IDX;
-
-	ldsData[2*lIdx]     = ( 2*gIdx < cb.m_numElems )? src[2*gIdx]: 0;
-	ldsData[2*lIdx + 1] = ( 2*gIdx+1 < cb.m_numElems )? src[2*gIdx + 1]: 0;
-
-	float4 sum = ScanExclusiveFloat4(ldsData, WG_SIZE*2, GET_LOCAL_IDX, GET_GROUP_SIZE);
-
-	if( lIdx == 0 ) 
-		sumBuffer[GET_GROUP_IDX] = sum;
-
-	if( (2*gIdx) < cb.m_numElems )
-    {
-        dst[2*gIdx]     = ldsData[2*lIdx];
-	}
-	if( (2*gIdx + 1) < cb.m_numElems )
-	{
-        dst[2*gIdx + 1] = ldsData[2*lIdx + 1];
-    }
-}
-
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-__kernel
-void AddOffsetKernel(__global float4* dst, __global float4* blockSum, uint4 cb)
-{
-	const u32 blockSize = WG_SIZE*2;
-
-	int myIdx = GET_GROUP_IDX+1;
-	int lIdx = GET_LOCAL_IDX;
-
-	float4 iBlockSum = blockSum[myIdx];
-
-	int endValue = min((myIdx+1)*(blockSize), cb.m_numElems);
-	for(int i=myIdx*blockSize+lIdx; i<endValue; i+=GET_GROUP_SIZE)
-	{
-		dst[i] += iBlockSum;
-	}
-}
-
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-__kernel
-void TopLevelScanKernel(__global float4* dst, uint4 cb)
-{
-	__local float4 ldsData[2048];
-	int gIdx = GET_GLOBAL_IDX;
-	int lIdx = GET_LOCAL_IDX;
-	int lSize = GET_GROUP_SIZE;
-
-	for(int i=lIdx; i<cb.m_numScanBlocks; i+=lSize )
-	{
-		ldsData[i] = (i<cb.m_numBlocks)? dst[i]:0;
-	}
-
-	GROUP_LDS_BARRIER;
-
-	float4 sum = ScanExclusiveFloat4(ldsData, cb.m_numScanBlocks, GET_LOCAL_IDX, GET_GROUP_SIZE);
-
-	for(int i=lIdx; i<cb.m_numBlocks; i+=lSize )
-	{
-		dst[i] = ldsData[i];
-	}
-
-	if( gIdx == 0 )
-	{
-		dst[cb.m_numBlocks] = sum;
-	}
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernels.cl b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernels.cl
deleted file mode 100644
index 963cc1e48e..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernels.cl
+++ /dev/null
@@ -1,154 +0,0 @@
-/*
-Copyright (c) 2012 Advanced Micro Devices, 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.
-*/
-//Originally written by Takahiro Harada
-
-
-typedef unsigned int u32;
-#define GET_GROUP_IDX get_group_id(0)
-#define GET_LOCAL_IDX get_local_id(0)
-#define GET_GLOBAL_IDX get_global_id(0)
-#define GET_GROUP_SIZE get_local_size(0)
-#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
-
-// takahiro end
-#define WG_SIZE 128 
-#define m_numElems x
-#define m_numBlocks y
-#define m_numScanBlocks z
-
-/*typedef struct
-{
-	uint m_numElems;
-	uint m_numBlocks;
-	uint m_numScanBlocks;
-	uint m_padding[1];
-} ConstBuffer;
-*/
-
-u32 ScanExclusive(__local u32* data, u32 n, int lIdx, int lSize)
-{
-	u32 blocksum;
-    int offset = 1;
-    for(int nActive=n>>1; nActive>0; nActive>>=1, offset<<=1)
-    {
-        GROUP_LDS_BARRIER;
-        for(int iIdx=lIdx; iIdx<nActive; iIdx+=lSize)
-        {
-            int ai = offset*(2*iIdx+1)-1;
-            int bi = offset*(2*iIdx+2)-1;
-            data[bi] += data[ai];
-        }
-	}
-
-    GROUP_LDS_BARRIER;
-
-    if( lIdx == 0 )
-	{
-		blocksum = data[ n-1 ];
-        data[ n-1 ] = 0;
-	}
-
-	GROUP_LDS_BARRIER;
-
-	offset >>= 1;
-    for(int nActive=1; nActive<n; nActive<<=1, offset>>=1 )
-    {
-        GROUP_LDS_BARRIER;
-        for( int iIdx = lIdx; iIdx<nActive; iIdx += lSize )
-        {
-            int ai = offset*(2*iIdx+1)-1;
-            int bi = offset*(2*iIdx+2)-1;
-            u32 temp = data[ai];
-            data[ai] = data[bi];
-            data[bi] += temp;
-        }
-	}
-	GROUP_LDS_BARRIER;
-
-	return blocksum;
-}
-
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-__kernel
-void LocalScanKernel(__global u32* dst, __global u32 *src, __global u32 *sumBuffer,
-		uint4 cb)
-{
-	__local u32 ldsData[WG_SIZE*2];
-
-	int gIdx = GET_GLOBAL_IDX;
-	int lIdx = GET_LOCAL_IDX;
-
-	ldsData[2*lIdx]     = ( 2*gIdx < cb.m_numElems )? src[2*gIdx]: 0;
-	ldsData[2*lIdx + 1] = ( 2*gIdx+1 < cb.m_numElems )? src[2*gIdx + 1]: 0;
-
-	u32 sum = ScanExclusive(ldsData, WG_SIZE*2, GET_LOCAL_IDX, GET_GROUP_SIZE);
-
-	if( lIdx == 0 ) sumBuffer[GET_GROUP_IDX] = sum;
-
-	if( (2*gIdx) < cb.m_numElems )
-    {
-        dst[2*gIdx]     = ldsData[2*lIdx];
-	}
-	if( (2*gIdx + 1) < cb.m_numElems )
-	{
-        dst[2*gIdx + 1] = ldsData[2*lIdx + 1];
-    }
-}
-
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-__kernel
-void AddOffsetKernel(__global u32 *dst, __global u32 *blockSum, uint4 cb)
-{
-	const u32 blockSize = WG_SIZE*2;
-
-	int myIdx = GET_GROUP_IDX+1;
-	int lIdx = GET_LOCAL_IDX;
-
-	u32 iBlockSum = blockSum[myIdx];
-
-	int endValue = min((myIdx+1)*(blockSize), cb.m_numElems);
-	for(int i=myIdx*blockSize+lIdx; i<endValue; i+=GET_GROUP_SIZE)
-	{
-		dst[i] += iBlockSum;
-	}
-}
-
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-__kernel
-void TopLevelScanKernel(__global u32* dst, uint4 cb)
-{
-	__local u32 ldsData[2048];
-	int gIdx = GET_GLOBAL_IDX;
-	int lIdx = GET_LOCAL_IDX;
-	int lSize = GET_GROUP_SIZE;
-
-	for(int i=lIdx; i<cb.m_numScanBlocks; i+=lSize )
-	{
-		ldsData[i] = (i<cb.m_numBlocks)? dst[i]:0;
-	}
-
-	GROUP_LDS_BARRIER;
-
-	u32 sum = ScanExclusive(ldsData, cb.m_numScanBlocks, GET_LOCAL_IDX, GET_GROUP_SIZE);
-
-	for(int i=lIdx; i<cb.m_numBlocks; i+=lSize )
-	{
-		dst[i] = ldsData[i];
-	}
-
-	if( gIdx == 0 )
-	{
-		dst[cb.m_numBlocks] = sum;
-	}
-}
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernelsCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernelsCL.h
deleted file mode 100644
index fc5e7b865c..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernelsCL.h
+++ /dev/null
@@ -1,128 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* prefixScanKernelsCL =
-	"/*\n"
-	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-	"This software is provided 'as-is', without any express or implied warranty.\n"
-	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-	"Permission is granted to anyone to use this software for any purpose, \n"
-	"including commercial applications, and to alter it and redistribute it freely, \n"
-	"subject to the following restrictions:\n"
-	"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.\n"
-	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-	"3. This notice may not be removed or altered from any source distribution.\n"
-	"*/\n"
-	"//Originally written by Takahiro Harada\n"
-	"typedef unsigned int u32;\n"
-	"#define GET_GROUP_IDX get_group_id(0)\n"
-	"#define GET_LOCAL_IDX get_local_id(0)\n"
-	"#define GET_GLOBAL_IDX get_global_id(0)\n"
-	"#define GET_GROUP_SIZE get_local_size(0)\n"
-	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-	"// takahiro end\n"
-	"#define WG_SIZE 128 \n"
-	"#define m_numElems x\n"
-	"#define m_numBlocks y\n"
-	"#define m_numScanBlocks z\n"
-	"/*typedef struct\n"
-	"{\n"
-	"	uint m_numElems;\n"
-	"	uint m_numBlocks;\n"
-	"	uint m_numScanBlocks;\n"
-	"	uint m_padding[1];\n"
-	"} ConstBuffer;\n"
-	"*/\n"
-	"u32 ScanExclusive(__local u32* data, u32 n, int lIdx, int lSize)\n"
-	"{\n"
-	"	u32 blocksum;\n"
-	"    int offset = 1;\n"
-	"    for(int nActive=n>>1; nActive>0; nActive>>=1, offset<<=1)\n"
-	"    {\n"
-	"        GROUP_LDS_BARRIER;\n"
-	"        for(int iIdx=lIdx; iIdx<nActive; iIdx+=lSize)\n"
-	"        {\n"
-	"            int ai = offset*(2*iIdx+1)-1;\n"
-	"            int bi = offset*(2*iIdx+2)-1;\n"
-	"            data[bi] += data[ai];\n"
-	"        }\n"
-	"	}\n"
-	"    GROUP_LDS_BARRIER;\n"
-	"    if( lIdx == 0 )\n"
-	"	{\n"
-	"		blocksum = data[ n-1 ];\n"
-	"        data[ n-1 ] = 0;\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	offset >>= 1;\n"
-	"    for(int nActive=1; nActive<n; nActive<<=1, offset>>=1 )\n"
-	"    {\n"
-	"        GROUP_LDS_BARRIER;\n"
-	"        for( int iIdx = lIdx; iIdx<nActive; iIdx += lSize )\n"
-	"        {\n"
-	"            int ai = offset*(2*iIdx+1)-1;\n"
-	"            int bi = offset*(2*iIdx+2)-1;\n"
-	"            u32 temp = data[ai];\n"
-	"            data[ai] = data[bi];\n"
-	"            data[bi] += temp;\n"
-	"        }\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	return blocksum;\n"
-	"}\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"__kernel\n"
-	"void LocalScanKernel(__global u32* dst, __global u32 *src, __global u32 *sumBuffer,\n"
-	"		uint4 cb)\n"
-	"{\n"
-	"	__local u32 ldsData[WG_SIZE*2];\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	int lIdx = GET_LOCAL_IDX;\n"
-	"	ldsData[2*lIdx]     = ( 2*gIdx < cb.m_numElems )? src[2*gIdx]: 0;\n"
-	"	ldsData[2*lIdx + 1] = ( 2*gIdx+1 < cb.m_numElems )? src[2*gIdx + 1]: 0;\n"
-	"	u32 sum = ScanExclusive(ldsData, WG_SIZE*2, GET_LOCAL_IDX, GET_GROUP_SIZE);\n"
-	"	if( lIdx == 0 ) sumBuffer[GET_GROUP_IDX] = sum;\n"
-	"	if( (2*gIdx) < cb.m_numElems )\n"
-	"    {\n"
-	"        dst[2*gIdx]     = ldsData[2*lIdx];\n"
-	"	}\n"
-	"	if( (2*gIdx + 1) < cb.m_numElems )\n"
-	"	{\n"
-	"        dst[2*gIdx + 1] = ldsData[2*lIdx + 1];\n"
-	"    }\n"
-	"}\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"__kernel\n"
-	"void AddOffsetKernel(__global u32 *dst, __global u32 *blockSum, uint4 cb)\n"
-	"{\n"
-	"	const u32 blockSize = WG_SIZE*2;\n"
-	"	int myIdx = GET_GROUP_IDX+1;\n"
-	"	int lIdx = GET_LOCAL_IDX;\n"
-	"	u32 iBlockSum = blockSum[myIdx];\n"
-	"	int endValue = min((myIdx+1)*(blockSize), cb.m_numElems);\n"
-	"	for(int i=myIdx*blockSize+lIdx; i<endValue; i+=GET_GROUP_SIZE)\n"
-	"	{\n"
-	"		dst[i] += iBlockSum;\n"
-	"	}\n"
-	"}\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"__kernel\n"
-	"void TopLevelScanKernel(__global u32* dst, uint4 cb)\n"
-	"{\n"
-	"	__local u32 ldsData[2048];\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	int lIdx = GET_LOCAL_IDX;\n"
-	"	int lSize = GET_GROUP_SIZE;\n"
-	"	for(int i=lIdx; i<cb.m_numScanBlocks; i+=lSize )\n"
-	"	{\n"
-	"		ldsData[i] = (i<cb.m_numBlocks)? dst[i]:0;\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	u32 sum = ScanExclusive(ldsData, cb.m_numScanBlocks, GET_LOCAL_IDX, GET_GROUP_SIZE);\n"
-	"	for(int i=lIdx; i<cb.m_numBlocks; i+=lSize )\n"
-	"	{\n"
-	"		dst[i] = ldsData[i];\n"
-	"	}\n"
-	"	if( gIdx == 0 )\n"
-	"	{\n"
-	"		dst[cb.m_numBlocks] = sum;\n"
-	"	}\n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernelsFloat4CL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernelsFloat4CL.h
deleted file mode 100644
index 15d1bc5195..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernelsFloat4CL.h
+++ /dev/null
@@ -1,128 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* prefixScanKernelsFloat4CL =
-	"/*\n"
-	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-	"This software is provided 'as-is', without any express or implied warranty.\n"
-	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-	"Permission is granted to anyone to use this software for any purpose, \n"
-	"including commercial applications, and to alter it and redistribute it freely, \n"
-	"subject to the following restrictions:\n"
-	"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.\n"
-	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-	"3. This notice may not be removed or altered from any source distribution.\n"
-	"*/\n"
-	"//Originally written by Takahiro Harada\n"
-	"typedef unsigned int u32;\n"
-	"#define GET_GROUP_IDX get_group_id(0)\n"
-	"#define GET_LOCAL_IDX get_local_id(0)\n"
-	"#define GET_GLOBAL_IDX get_global_id(0)\n"
-	"#define GET_GROUP_SIZE get_local_size(0)\n"
-	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-	"// takahiro end\n"
-	"#define WG_SIZE 128 \n"
-	"#define m_numElems x\n"
-	"#define m_numBlocks y\n"
-	"#define m_numScanBlocks z\n"
-	"/*typedef struct\n"
-	"{\n"
-	"	uint m_numElems;\n"
-	"	uint m_numBlocks;\n"
-	"	uint m_numScanBlocks;\n"
-	"	uint m_padding[1];\n"
-	"} ConstBuffer;\n"
-	"*/\n"
-	"float4 ScanExclusiveFloat4(__local float4* data, u32 n, int lIdx, int lSize)\n"
-	"{\n"
-	"	float4 blocksum;\n"
-	"    int offset = 1;\n"
-	"    for(int nActive=n>>1; nActive>0; nActive>>=1, offset<<=1)\n"
-	"    {\n"
-	"        GROUP_LDS_BARRIER;\n"
-	"        for(int iIdx=lIdx; iIdx<nActive; iIdx+=lSize)\n"
-	"        {\n"
-	"            int ai = offset*(2*iIdx+1)-1;\n"
-	"            int bi = offset*(2*iIdx+2)-1;\n"
-	"            data[bi] += data[ai];\n"
-	"        }\n"
-	"	}\n"
-	"    GROUP_LDS_BARRIER;\n"
-	"    if( lIdx == 0 )\n"
-	"	{\n"
-	"		blocksum = data[ n-1 ];\n"
-	"    data[ n-1 ] = 0;\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	offset >>= 1;\n"
-	"    for(int nActive=1; nActive<n; nActive<<=1, offset>>=1 )\n"
-	"    {\n"
-	"        GROUP_LDS_BARRIER;\n"
-	"        for( int iIdx = lIdx; iIdx<nActive; iIdx += lSize )\n"
-	"        {\n"
-	"            int ai = offset*(2*iIdx+1)-1;\n"
-	"            int bi = offset*(2*iIdx+2)-1;\n"
-	"            float4 temp = data[ai];\n"
-	"            data[ai] = data[bi];\n"
-	"            data[bi] += temp;\n"
-	"        }\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	return blocksum;\n"
-	"}\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"__kernel\n"
-	"void LocalScanKernel(__global float4* dst, __global float4* src, __global float4* sumBuffer,	uint4 cb)\n"
-	"{\n"
-	"	__local float4 ldsData[WG_SIZE*2];\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	int lIdx = GET_LOCAL_IDX;\n"
-	"	ldsData[2*lIdx]     = ( 2*gIdx < cb.m_numElems )? src[2*gIdx]: 0;\n"
-	"	ldsData[2*lIdx + 1] = ( 2*gIdx+1 < cb.m_numElems )? src[2*gIdx + 1]: 0;\n"
-	"	float4 sum = ScanExclusiveFloat4(ldsData, WG_SIZE*2, GET_LOCAL_IDX, GET_GROUP_SIZE);\n"
-	"	if( lIdx == 0 ) \n"
-	"		sumBuffer[GET_GROUP_IDX] = sum;\n"
-	"	if( (2*gIdx) < cb.m_numElems )\n"
-	"    {\n"
-	"        dst[2*gIdx]     = ldsData[2*lIdx];\n"
-	"	}\n"
-	"	if( (2*gIdx + 1) < cb.m_numElems )\n"
-	"	{\n"
-	"        dst[2*gIdx + 1] = ldsData[2*lIdx + 1];\n"
-	"    }\n"
-	"}\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"__kernel\n"
-	"void AddOffsetKernel(__global float4* dst, __global float4* blockSum, uint4 cb)\n"
-	"{\n"
-	"	const u32 blockSize = WG_SIZE*2;\n"
-	"	int myIdx = GET_GROUP_IDX+1;\n"
-	"	int lIdx = GET_LOCAL_IDX;\n"
-	"	float4 iBlockSum = blockSum[myIdx];\n"
-	"	int endValue = min((myIdx+1)*(blockSize), cb.m_numElems);\n"
-	"	for(int i=myIdx*blockSize+lIdx; i<endValue; i+=GET_GROUP_SIZE)\n"
-	"	{\n"
-	"		dst[i] += iBlockSum;\n"
-	"	}\n"
-	"}\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"__kernel\n"
-	"void TopLevelScanKernel(__global float4* dst, uint4 cb)\n"
-	"{\n"
-	"	__local float4 ldsData[2048];\n"
-	"	int gIdx = GET_GLOBAL_IDX;\n"
-	"	int lIdx = GET_LOCAL_IDX;\n"
-	"	int lSize = GET_GROUP_SIZE;\n"
-	"	for(int i=lIdx; i<cb.m_numScanBlocks; i+=lSize )\n"
-	"	{\n"
-	"		ldsData[i] = (i<cb.m_numBlocks)? dst[i]:0;\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	float4 sum = ScanExclusiveFloat4(ldsData, cb.m_numScanBlocks, GET_LOCAL_IDX, GET_GROUP_SIZE);\n"
-	"	for(int i=lIdx; i<cb.m_numBlocks; i+=lSize )\n"
-	"	{\n"
-	"		dst[i] = ldsData[i];\n"
-	"	}\n"
-	"	if( gIdx == 0 )\n"
-	"	{\n"
-	"		dst[cb.m_numBlocks] = sum;\n"
-	"	}\n"
-	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/RadixSort32Kernels.cl b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/RadixSort32Kernels.cl
deleted file mode 100644
index 7402e2f3b3..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/RadixSort32Kernels.cl
+++ /dev/null
@@ -1,1071 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2011 Advanced Micro Devices, Inc.  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.
-*/
-//Author Takahiro Harada
-
-
-//#pragma OPENCL EXTENSION cl_amd_printf : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable
-
-typedef unsigned int u32;
-#define GET_GROUP_IDX get_group_id(0)
-#define GET_LOCAL_IDX get_local_id(0)
-#define GET_GLOBAL_IDX get_global_id(0)
-#define GET_GROUP_SIZE get_local_size(0)
-#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
-#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)
-#define AtomInc(x) atom_inc(&(x))
-#define AtomInc1(x, out) out = atom_inc(&(x))
-#define AtomAdd(x, value) atom_add(&(x), value)
-
-#define SELECT_UINT4( b, a, condition ) select( b,a,condition )
-
-
-#define make_uint4 (uint4)
-#define make_uint2 (uint2)
-#define make_int2 (int2)
-
-#define WG_SIZE 64
-#define ELEMENTS_PER_WORK_ITEM (256/WG_SIZE)
-#define BITS_PER_PASS 4
-#define NUM_BUCKET (1<<BITS_PER_PASS)
-typedef uchar u8;
-
-//	this isn't optimization for VLIW. But just reducing writes. 
-#define USE_2LEVEL_REDUCE 1
-
-//#define CHECK_BOUNDARY 1
-
-//#define NV_GPU 1
-
-
-//	Cypress
-#define nPerWI 16
-//	Cayman
-//#define nPerWI 20
-
-#define m_n x
-#define m_nWGs y
-#define m_startBit z
-#define m_nBlocksPerWG w
-
-/*
-typedef struct
-{
-	int m_n;
-	int m_nWGs;
-	int m_startBit;
-	int m_nBlocksPerWG;
-} ConstBuffer;
-*/
-
-typedef struct
-{
-	unsigned int m_key;
-	unsigned int m_value;
-} SortDataCL;
-
-
-uint prefixScanVectorEx( uint4* data )
-{
-	u32 sum = 0;
-	u32 tmp = data[0].x;
-	data[0].x = sum;
-	sum += tmp;
-	tmp = data[0].y;
-	data[0].y = sum;
-	sum += tmp;
-	tmp = data[0].z;
-	data[0].z = sum;
-	sum += tmp;
-	tmp = data[0].w;
-	data[0].w = sum;
-	sum += tmp;
-	return sum;
-}
-
-u32 localPrefixSum( u32 pData, uint lIdx, uint* totalSum, __local u32* sorterSharedMemory, int wgSize /*64 or 128*/ )
-{
-	{	//	Set data
-		sorterSharedMemory[lIdx] = 0;
-		sorterSharedMemory[lIdx+wgSize] = pData;
-	}
-
-	GROUP_LDS_BARRIER;
-
-	{	//	Prefix sum
-		int idx = 2*lIdx + (wgSize+1);
-#if defined(USE_2LEVEL_REDUCE)
-		if( lIdx < 64 )
-		{
-			u32 u0, u1, u2;
-			u0 = sorterSharedMemory[idx-3];
-			u1 = sorterSharedMemory[idx-2];
-			u2 = sorterSharedMemory[idx-1];
-			AtomAdd( sorterSharedMemory[idx], u0+u1+u2 );			
-			GROUP_MEM_FENCE;
-
-			u0 = sorterSharedMemory[idx-12];
-			u1 = sorterSharedMemory[idx-8];
-			u2 = sorterSharedMemory[idx-4];
-			AtomAdd( sorterSharedMemory[idx], u0+u1+u2 );			
-			GROUP_MEM_FENCE;
-
-			u0 = sorterSharedMemory[idx-48];
-			u1 = sorterSharedMemory[idx-32];
-			u2 = sorterSharedMemory[idx-16];
-			AtomAdd( sorterSharedMemory[idx], u0+u1+u2 );			
-			GROUP_MEM_FENCE;
-			if( wgSize > 64 )
-			{
-				sorterSharedMemory[idx] += sorterSharedMemory[idx-64];
-				GROUP_MEM_FENCE;
-			}
-
-			sorterSharedMemory[idx-1] += sorterSharedMemory[idx-2];
-			GROUP_MEM_FENCE;
-		}
-#else
-		if( lIdx < 64 )
-		{
-			sorterSharedMemory[idx] += sorterSharedMemory[idx-1];
-			GROUP_MEM_FENCE;
-			sorterSharedMemory[idx] += sorterSharedMemory[idx-2];			
-			GROUP_MEM_FENCE;
-			sorterSharedMemory[idx] += sorterSharedMemory[idx-4];
-			GROUP_MEM_FENCE;
-			sorterSharedMemory[idx] += sorterSharedMemory[idx-8];
-			GROUP_MEM_FENCE;
-			sorterSharedMemory[idx] += sorterSharedMemory[idx-16];
-			GROUP_MEM_FENCE;
-			sorterSharedMemory[idx] += sorterSharedMemory[idx-32];
-			GROUP_MEM_FENCE;
-			if( wgSize > 64 )
-			{
-				sorterSharedMemory[idx] += sorterSharedMemory[idx-64];
-				GROUP_MEM_FENCE;
-			}
-
-			sorterSharedMemory[idx-1] += sorterSharedMemory[idx-2];
-			GROUP_MEM_FENCE;
-		}
-#endif
-	}
-
-	GROUP_LDS_BARRIER;
-
-	*totalSum = sorterSharedMemory[wgSize*2-1];
-	u32 addValue = sorterSharedMemory[lIdx+wgSize-1];
-	return addValue;
-}
-
-//__attribute__((reqd_work_group_size(128,1,1)))
-uint4 localPrefixSum128V( uint4 pData, uint lIdx, uint* totalSum, __local u32* sorterSharedMemory )
-{
-	u32 s4 = prefixScanVectorEx( &pData );
-	u32 rank = localPrefixSum( s4, lIdx, totalSum, sorterSharedMemory, 128 );
-	return pData + make_uint4( rank, rank, rank, rank );
-}
-
-
-//__attribute__((reqd_work_group_size(64,1,1)))
-uint4 localPrefixSum64V( uint4 pData, uint lIdx, uint* totalSum, __local u32* sorterSharedMemory )
-{
-	u32 s4 = prefixScanVectorEx( &pData );
-	u32 rank = localPrefixSum( s4, lIdx, totalSum, sorterSharedMemory, 64 );
-	return pData + make_uint4( rank, rank, rank, rank );
-}
-
-u32 unpack4Key( u32 key, int keyIdx ){ return (key>>(keyIdx*8)) & 0xff;}
-
-u32 bit8Scan(u32 v)
-{
-	return (v<<8) + (v<<16) + (v<<24);
-}
-
-//===
-
-
-
-
-#define MY_HISTOGRAM(idx) localHistogramMat[(idx)*WG_SIZE+lIdx]
-
-
-__kernel
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void StreamCountKernel( __global u32* gSrc, __global u32* histogramOut, int4 cb )
-{
-	__local u32 localHistogramMat[NUM_BUCKET*WG_SIZE];
-
-	u32 gIdx = GET_GLOBAL_IDX;
-	u32 lIdx = GET_LOCAL_IDX;
-	u32 wgIdx = GET_GROUP_IDX;
-	u32 wgSize = GET_GROUP_SIZE;
-	const int startBit = cb.m_startBit;
-	const int n = cb.m_n;
-	const int nWGs = cb.m_nWGs;
-	const int nBlocksPerWG = cb.m_nBlocksPerWG;
-
-	for(int i=0; i<NUM_BUCKET; i++)
-	{
-		MY_HISTOGRAM(i) = 0;
-	}
-
-	GROUP_LDS_BARRIER;
-
-	const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;
-	u32 localKey;
-
-	int nBlocks = (n)/blockSize - nBlocksPerWG*wgIdx;
-
-	int addr = blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;
-
-	for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++, addr+=blockSize)
-	{
-		//	MY_HISTOGRAM( localKeys.x ) ++ is much expensive than atomic add as it requires read and write while atomics can just add on AMD
-		//	Using registers didn't perform well. It seems like use localKeys to address requires a lot of alu ops
-		//	AMD: AtomInc performs better while NV prefers ++
-		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)
-		{
-#if defined(CHECK_BOUNDARY)
-			if( addr+i < n )
-#endif
-			{
-				localKey = (gSrc[addr+i]>>startBit) & 0xf;
-#if defined(NV_GPU)
-				MY_HISTOGRAM( localKey )++;
-#else
-				AtomInc( MY_HISTOGRAM( localKey ) );
-#endif
-			}
-		}
-	}
-
-	GROUP_LDS_BARRIER;
-	
-	if( lIdx < NUM_BUCKET )
-	{
-		u32 sum = 0;
-		for(int i=0; i<GET_GROUP_SIZE; i++)
-		{
-			sum += localHistogramMat[lIdx*WG_SIZE+(i+lIdx)%GET_GROUP_SIZE];
-		}
-		histogramOut[lIdx*nWGs+wgIdx] = sum;
-	}
-}
-
-__kernel
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void StreamCountSortDataKernel( __global SortDataCL* gSrc, __global u32* histogramOut, int4  cb )
-{
-	__local u32 localHistogramMat[NUM_BUCKET*WG_SIZE];
-
-	u32 gIdx = GET_GLOBAL_IDX;
-	u32 lIdx = GET_LOCAL_IDX;
-	u32 wgIdx = GET_GROUP_IDX;
-	u32 wgSize = GET_GROUP_SIZE;
-	const int startBit = cb.m_startBit;
-	const int n = cb.m_n;
-	const int nWGs = cb.m_nWGs;
-	const int nBlocksPerWG = cb.m_nBlocksPerWG;
-
-	for(int i=0; i<NUM_BUCKET; i++)
-	{
-		MY_HISTOGRAM(i) = 0;
-	}
-
-	GROUP_LDS_BARRIER;
-
-	const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;
-	u32 localKey;
-
-	int nBlocks = (n)/blockSize - nBlocksPerWG*wgIdx;
-
-	int addr = blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;
-
-	for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++, addr+=blockSize)
-	{
-		//	MY_HISTOGRAM( localKeys.x ) ++ is much expensive than atomic add as it requires read and write while atomics can just add on AMD
-		//	Using registers didn't perform well. It seems like use localKeys to address requires a lot of alu ops
-		//	AMD: AtomInc performs better while NV prefers ++
-		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)
-		{
-#if defined(CHECK_BOUNDARY)
-			if( addr+i < n )
-#endif
-			{
-				localKey = (gSrc[addr+i].m_key>>startBit) & 0xf;
-#if defined(NV_GPU)
-				MY_HISTOGRAM( localKey )++;
-#else
-				AtomInc( MY_HISTOGRAM( localKey ) );
-#endif
-			}
-		}
-	}
-
-	GROUP_LDS_BARRIER;
-	
-	if( lIdx < NUM_BUCKET )
-	{
-		u32 sum = 0;
-		for(int i=0; i<GET_GROUP_SIZE; i++)
-		{
-			sum += localHistogramMat[lIdx*WG_SIZE+(i+lIdx)%GET_GROUP_SIZE];
-		}
-		histogramOut[lIdx*nWGs+wgIdx] = sum;
-	}
-}
-
-#define nPerLane (nPerWI/4)
-
-//	NUM_BUCKET*nWGs < 128*nPerWI
-__kernel
-__attribute__((reqd_work_group_size(128,1,1)))
-void PrefixScanKernel( __global u32* wHistogram1, int4  cb )
-{
-	__local u32 ldsTopScanData[128*2];
-
-	u32 lIdx = GET_LOCAL_IDX;
-	u32 wgIdx = GET_GROUP_IDX;
-	const int nWGs = cb.m_nWGs;
-
-	u32 data[nPerWI];
-	for(int i=0; i<nPerWI; i++)
-	{
-		data[i] = 0;
-		if( (nPerWI*lIdx+i) < NUM_BUCKET*nWGs )
-			data[i] = wHistogram1[nPerWI*lIdx+i];
-	}
-
-	uint4 myData = make_uint4(0,0,0,0);
-
-	for(int i=0; i<nPerLane; i++)
-	{
-		myData.x += data[nPerLane*0+i];
-		myData.y += data[nPerLane*1+i];
-		myData.z += data[nPerLane*2+i];
-		myData.w += data[nPerLane*3+i];
-	}
-
-	uint totalSum;
-	uint4 scanned = localPrefixSum128V( myData, lIdx, &totalSum, ldsTopScanData );
-
-//	for(int j=0; j<4; j++) //	somehow it introduces a lot of branches
-	{	int j = 0;
-		u32 sum = 0;
-		for(int i=0; i<nPerLane; i++)
-		{
-			u32 tmp = data[nPerLane*j+i];
-			data[nPerLane*j+i] = sum;
-			sum += tmp;
-		}
-	}
-	{	int j = 1;
-		u32 sum = 0;
-		for(int i=0; i<nPerLane; i++)
-		{
-			u32 tmp = data[nPerLane*j+i];
-			data[nPerLane*j+i] = sum;
-			sum += tmp;
-		}
-	}
-	{	int j = 2;
-		u32 sum = 0;
-		for(int i=0; i<nPerLane; i++)
-		{
-			u32 tmp = data[nPerLane*j+i];
-			data[nPerLane*j+i] = sum;
-			sum += tmp;
-		}
-	}
-	{	int j = 3;
-		u32 sum = 0;
-		for(int i=0; i<nPerLane; i++)
-		{
-			u32 tmp = data[nPerLane*j+i];
-			data[nPerLane*j+i] = sum;
-			sum += tmp;
-		}
-	}
-
-	for(int i=0; i<nPerLane; i++)
-	{
-		data[nPerLane*0+i] += scanned.x;
-		data[nPerLane*1+i] += scanned.y;
-		data[nPerLane*2+i] += scanned.z;
-		data[nPerLane*3+i] += scanned.w;
-	}
-
-	for(int i=0; i<nPerWI; i++)
-	{
-		int index = nPerWI*lIdx+i;
-		if (index < NUM_BUCKET*nWGs)
-			wHistogram1[nPerWI*lIdx+i] = data[i];
-	}
-}
-
-//	4 scan, 4 exchange
-void sort4Bits(u32 sortData[4], int startBit, int lIdx, __local u32* ldsSortData)
-{
-	for(int bitIdx=0; bitIdx<BITS_PER_PASS; bitIdx++)
-	{
-		u32 mask = (1<<bitIdx);
-		uint4 cmpResult = make_uint4( (sortData[0]>>startBit) & mask, (sortData[1]>>startBit) & mask, (sortData[2]>>startBit) & mask, (sortData[3]>>startBit) & mask );
-		uint4 prefixSum = SELECT_UINT4( make_uint4(1,1,1,1), make_uint4(0,0,0,0), cmpResult != make_uint4(0,0,0,0) );
-		u32 total;
-		prefixSum = localPrefixSum64V( prefixSum, lIdx, &total, ldsSortData );
-		{
-			uint4 localAddr = make_uint4(lIdx*4+0,lIdx*4+1,lIdx*4+2,lIdx*4+3);
-			uint4 dstAddr = localAddr - prefixSum + make_uint4( total, total, total, total );
-			dstAddr = SELECT_UINT4( prefixSum, dstAddr, cmpResult != make_uint4(0, 0, 0, 0) );
-
-			GROUP_LDS_BARRIER;
-
-			ldsSortData[dstAddr.x] = sortData[0];
-			ldsSortData[dstAddr.y] = sortData[1];
-			ldsSortData[dstAddr.z] = sortData[2];
-			ldsSortData[dstAddr.w] = sortData[3];
-
-			GROUP_LDS_BARRIER;
-
-			sortData[0] = ldsSortData[localAddr.x];
-			sortData[1] = ldsSortData[localAddr.y];
-			sortData[2] = ldsSortData[localAddr.z];
-			sortData[3] = ldsSortData[localAddr.w];
-
-			GROUP_LDS_BARRIER;
-		}
-	}
-}
-
-//	2 scan, 2 exchange
-void sort4Bits1(u32 sortData[4], int startBit, int lIdx, __local u32* ldsSortData)
-{
-	for(uint ibit=0; ibit<BITS_PER_PASS; ibit+=2)
-	{
-		uint4 b = make_uint4((sortData[0]>>(startBit+ibit)) & 0x3, 
-			(sortData[1]>>(startBit+ibit)) & 0x3, 
-			(sortData[2]>>(startBit+ibit)) & 0x3, 
-			(sortData[3]>>(startBit+ibit)) & 0x3);
-
-		u32 key4;
-		u32 sKeyPacked[4] = { 0, 0, 0, 0 };
-		{
-			sKeyPacked[0] |= 1<<(8*b.x);
-			sKeyPacked[1] |= 1<<(8*b.y);
-			sKeyPacked[2] |= 1<<(8*b.z);
-			sKeyPacked[3] |= 1<<(8*b.w);
-
-			key4 = sKeyPacked[0] + sKeyPacked[1] + sKeyPacked[2] + sKeyPacked[3];
-		}
-
-		u32 rankPacked;
-		u32 sumPacked;
-		{
-			rankPacked = localPrefixSum( key4, lIdx, &sumPacked, ldsSortData, WG_SIZE );
-		}
-
-		GROUP_LDS_BARRIER;
-
-		u32 newOffset[4] = { 0,0,0,0 };
-		{
-			u32 sumScanned = bit8Scan( sumPacked );
-
-			u32 scannedKeys[4];
-			scannedKeys[0] = 1<<(8*b.x);
-			scannedKeys[1] = 1<<(8*b.y);
-			scannedKeys[2] = 1<<(8*b.z);
-			scannedKeys[3] = 1<<(8*b.w);
-			{	//	4 scans at once
-				u32 sum4 = 0;
-				for(int ie=0; ie<4; ie++)
-				{
-					u32 tmp = scannedKeys[ie];
-					scannedKeys[ie] = sum4;
-					sum4 += tmp;
-				}
-			}
-
-			{
-				u32 sumPlusRank = sumScanned + rankPacked;
-				{	u32 ie = b.x;
-					scannedKeys[0] += sumPlusRank;
-					newOffset[0] = unpack4Key( scannedKeys[0], ie );
-				}
-				{	u32 ie = b.y;
-					scannedKeys[1] += sumPlusRank;
-					newOffset[1] = unpack4Key( scannedKeys[1], ie );
-				}
-				{	u32 ie = b.z;
-					scannedKeys[2] += sumPlusRank;
-					newOffset[2] = unpack4Key( scannedKeys[2], ie );
-				}
-				{	u32 ie = b.w;
-					scannedKeys[3] += sumPlusRank;
-					newOffset[3] = unpack4Key( scannedKeys[3], ie );
-				}
-			}
-		}
-
-
-		GROUP_LDS_BARRIER;
-
-		{
-			ldsSortData[newOffset[0]] = sortData[0];
-			ldsSortData[newOffset[1]] = sortData[1];
-			ldsSortData[newOffset[2]] = sortData[2];
-			ldsSortData[newOffset[3]] = sortData[3];
-
-			GROUP_LDS_BARRIER;
-
-			u32 dstAddr = 4*lIdx;
-			sortData[0] = ldsSortData[dstAddr+0];
-			sortData[1] = ldsSortData[dstAddr+1];
-			sortData[2] = ldsSortData[dstAddr+2];
-			sortData[3] = ldsSortData[dstAddr+3];
-
-			GROUP_LDS_BARRIER;
-		}
-	}
-}
-
-#define SET_HISTOGRAM(setIdx, key) ldsSortData[(setIdx)*NUM_BUCKET+key]
-
-__kernel
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void SortAndScatterKernel( __global const u32* restrict gSrc, __global const u32* rHistogram, __global u32* restrict gDst, int4  cb )
-{
-	__local u32 ldsSortData[WG_SIZE*ELEMENTS_PER_WORK_ITEM+16];
-	__local u32 localHistogramToCarry[NUM_BUCKET];
-	__local u32 localHistogram[NUM_BUCKET*2];
-
-	u32 gIdx = GET_GLOBAL_IDX;
-	u32 lIdx = GET_LOCAL_IDX;
-	u32 wgIdx = GET_GROUP_IDX;
-	u32 wgSize = GET_GROUP_SIZE;
-
-	const int n = cb.m_n;
-	const int nWGs = cb.m_nWGs;
-	const int startBit = cb.m_startBit;
-	const int nBlocksPerWG = cb.m_nBlocksPerWG;
-
-	if( lIdx < (NUM_BUCKET) )
-	{
-		localHistogramToCarry[lIdx] = rHistogram[lIdx*nWGs + wgIdx];
-	}
-
-	GROUP_LDS_BARRIER;
-
-	const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;
-
-	int nBlocks = n/blockSize - nBlocksPerWG*wgIdx;
-
-	int addr = blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;
-
-	for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++, addr+=blockSize)
-	{
-		u32 myHistogram = 0;
-
-		u32 sortData[ELEMENTS_PER_WORK_ITEM];
-		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)
-#if defined(CHECK_BOUNDARY)
-			sortData[i] = ( addr+i < n )? gSrc[ addr+i ] : 0xffffffff;
-#else
-			sortData[i] = gSrc[ addr+i ];
-#endif
-
-		sort4Bits(sortData, startBit, lIdx, ldsSortData);
-
-		u32 keys[ELEMENTS_PER_WORK_ITEM];
-		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)
-			keys[i] = (sortData[i]>>startBit) & 0xf;
-
-		{	//	create histogram
-			u32 setIdx = lIdx/16;
-			if( lIdx < NUM_BUCKET )
-			{
-				localHistogram[lIdx] = 0;
-			}
-			ldsSortData[lIdx] = 0;
-			GROUP_LDS_BARRIER;
-
-			for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)
-#if defined(CHECK_BOUNDARY)
-				if( addr+i < n )
-#endif
-
-#if defined(NV_GPU)
-				SET_HISTOGRAM( setIdx, keys[i] )++;
-#else
-				AtomInc( SET_HISTOGRAM( setIdx, keys[i] ) );
-#endif
-			
-			GROUP_LDS_BARRIER;
-			
-			uint hIdx = NUM_BUCKET+lIdx;
-			if( lIdx < NUM_BUCKET )
-			{
-				u32 sum = 0;
-				for(int i=0; i<WG_SIZE/16; i++)
-				{
-					sum += SET_HISTOGRAM( i, lIdx );
-				}
-				myHistogram = sum;
-				localHistogram[hIdx] = sum;
-			}
-			GROUP_LDS_BARRIER;
-
-#if defined(USE_2LEVEL_REDUCE)
-			if( lIdx < NUM_BUCKET )
-			{
-				localHistogram[hIdx] = localHistogram[hIdx-1];
-				GROUP_MEM_FENCE;
-
-				u32 u0, u1, u2;
-				u0 = localHistogram[hIdx-3];
-				u1 = localHistogram[hIdx-2];
-				u2 = localHistogram[hIdx-1];
-				AtomAdd( localHistogram[hIdx], u0 + u1 + u2 );
-				GROUP_MEM_FENCE;
-				u0 = localHistogram[hIdx-12];
-				u1 = localHistogram[hIdx-8];
-				u2 = localHistogram[hIdx-4];
-				AtomAdd( localHistogram[hIdx], u0 + u1 + u2 );
-				GROUP_MEM_FENCE;
-			}
-#else
-			if( lIdx < NUM_BUCKET )
-			{
-				localHistogram[hIdx] = localHistogram[hIdx-1];
-				GROUP_MEM_FENCE;
-				localHistogram[hIdx] += localHistogram[hIdx-1];
-				GROUP_MEM_FENCE;
-				localHistogram[hIdx] += localHistogram[hIdx-2];
-				GROUP_MEM_FENCE;
-				localHistogram[hIdx] += localHistogram[hIdx-4];
-				GROUP_MEM_FENCE;
-				localHistogram[hIdx] += localHistogram[hIdx-8];
-				GROUP_MEM_FENCE;
-			}
-#endif
-			GROUP_LDS_BARRIER;
-		}
-
-		{
-			for(int ie=0; ie<ELEMENTS_PER_WORK_ITEM; ie++)
-			{
-				int dataIdx = ELEMENTS_PER_WORK_ITEM*lIdx+ie;
-				int binIdx = keys[ie];
-				int groupOffset = localHistogramToCarry[binIdx];
-				int myIdx = dataIdx - localHistogram[NUM_BUCKET+binIdx];
-#if defined(CHECK_BOUNDARY)
-				if( addr+ie < n )
-#endif
-				gDst[ groupOffset + myIdx ] = sortData[ie];
-			}
-		}
-
-		GROUP_LDS_BARRIER;
-
-		if( lIdx < NUM_BUCKET )
-		{
-			localHistogramToCarry[lIdx] += myHistogram;
-		}
-		GROUP_LDS_BARRIER;
-	}
-}
-
-//	2 scan, 2 exchange
-void sort4Bits1KeyValue(u32 sortData[4], int sortVal[4], int startBit, int lIdx, __local u32* ldsSortData, __local int *ldsSortVal)
-{
-	for(uint ibit=0; ibit<BITS_PER_PASS; ibit+=2)
-	{
-		uint4 b = make_uint4((sortData[0]>>(startBit+ibit)) & 0x3, 
-			(sortData[1]>>(startBit+ibit)) & 0x3, 
-			(sortData[2]>>(startBit+ibit)) & 0x3, 
-			(sortData[3]>>(startBit+ibit)) & 0x3);
-
-		u32 key4;
-		u32 sKeyPacked[4] = { 0, 0, 0, 0 };
-		{
-			sKeyPacked[0] |= 1<<(8*b.x);
-			sKeyPacked[1] |= 1<<(8*b.y);
-			sKeyPacked[2] |= 1<<(8*b.z);
-			sKeyPacked[3] |= 1<<(8*b.w);
-
-			key4 = sKeyPacked[0] + sKeyPacked[1] + sKeyPacked[2] + sKeyPacked[3];
-		}
-
-		u32 rankPacked;
-		u32 sumPacked;
-		{
-			rankPacked = localPrefixSum( key4, lIdx, &sumPacked, ldsSortData, WG_SIZE );
-		}
-
-		GROUP_LDS_BARRIER;
-
-		u32 newOffset[4] = { 0,0,0,0 };
-		{
-			u32 sumScanned = bit8Scan( sumPacked );
-
-			u32 scannedKeys[4];
-			scannedKeys[0] = 1<<(8*b.x);
-			scannedKeys[1] = 1<<(8*b.y);
-			scannedKeys[2] = 1<<(8*b.z);
-			scannedKeys[3] = 1<<(8*b.w);
-			{	//	4 scans at once
-				u32 sum4 = 0;
-				for(int ie=0; ie<4; ie++)
-				{
-					u32 tmp = scannedKeys[ie];
-					scannedKeys[ie] = sum4;
-					sum4 += tmp;
-				}
-			}
-
-			{
-				u32 sumPlusRank = sumScanned + rankPacked;
-				{	u32 ie = b.x;
-					scannedKeys[0] += sumPlusRank;
-					newOffset[0] = unpack4Key( scannedKeys[0], ie );
-				}
-				{	u32 ie = b.y;
-					scannedKeys[1] += sumPlusRank;
-					newOffset[1] = unpack4Key( scannedKeys[1], ie );
-				}
-				{	u32 ie = b.z;
-					scannedKeys[2] += sumPlusRank;
-					newOffset[2] = unpack4Key( scannedKeys[2], ie );
-				}
-				{	u32 ie = b.w;
-					scannedKeys[3] += sumPlusRank;
-					newOffset[3] = unpack4Key( scannedKeys[3], ie );
-				}
-			}
-		}
-
-
-		GROUP_LDS_BARRIER;
-
-		{
-			ldsSortData[newOffset[0]] = sortData[0];
-			ldsSortData[newOffset[1]] = sortData[1];
-			ldsSortData[newOffset[2]] = sortData[2];
-			ldsSortData[newOffset[3]] = sortData[3];
-
-			ldsSortVal[newOffset[0]] = sortVal[0];
-			ldsSortVal[newOffset[1]] = sortVal[1];
-			ldsSortVal[newOffset[2]] = sortVal[2];
-			ldsSortVal[newOffset[3]] = sortVal[3];
-
-			GROUP_LDS_BARRIER;
-
-			u32 dstAddr = 4*lIdx;
-			sortData[0] = ldsSortData[dstAddr+0];
-			sortData[1] = ldsSortData[dstAddr+1];
-			sortData[2] = ldsSortData[dstAddr+2];
-			sortData[3] = ldsSortData[dstAddr+3];
-
-			sortVal[0] = ldsSortVal[dstAddr+0];
-			sortVal[1] = ldsSortVal[dstAddr+1];
-			sortVal[2] = ldsSortVal[dstAddr+2];
-			sortVal[3] = ldsSortVal[dstAddr+3];
-
-			GROUP_LDS_BARRIER;
-		}
-	}
-}
-
-
-
-
-__kernel
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void SortAndScatterSortDataKernel( __global const SortDataCL* restrict gSrc, __global const u32* rHistogram, __global SortDataCL* restrict gDst, int4 cb)
-{
-	__local int ldsSortData[WG_SIZE*ELEMENTS_PER_WORK_ITEM+16];
-	__local int ldsSortVal[WG_SIZE*ELEMENTS_PER_WORK_ITEM+16];
-	__local u32 localHistogramToCarry[NUM_BUCKET];
-	__local u32 localHistogram[NUM_BUCKET*2];
-
-	u32 gIdx = GET_GLOBAL_IDX;
-	u32 lIdx = GET_LOCAL_IDX;
-	u32 wgIdx = GET_GROUP_IDX;
-	u32 wgSize = GET_GROUP_SIZE;
-
-	const int n = cb.m_n;
-	const int nWGs = cb.m_nWGs;
-	const int startBit = cb.m_startBit;
-	const int nBlocksPerWG = cb.m_nBlocksPerWG;
-
-	if( lIdx < (NUM_BUCKET) )
-	{
-		localHistogramToCarry[lIdx] = rHistogram[lIdx*nWGs + wgIdx];
-	}
-
-	GROUP_LDS_BARRIER;
-    
-
-	const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;
-
-	int nBlocks = n/blockSize - nBlocksPerWG*wgIdx;
-
-	int addr = blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;
-
-	for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++, addr+=blockSize)
-	{
-
-		u32 myHistogram = 0;
-
-		int sortData[ELEMENTS_PER_WORK_ITEM];
-		int sortVal[ELEMENTS_PER_WORK_ITEM];
-
-		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)
-#if defined(CHECK_BOUNDARY)
-		{
-			sortData[i] = ( addr+i < n )? gSrc[ addr+i ].m_key : 0xffffffff;
-			sortVal[i] = ( addr+i < n )? gSrc[ addr+i ].m_value : 0xffffffff;
-		}
-#else
-		{
-			sortData[i] = gSrc[ addr+i ].m_key;
-			sortVal[i] = gSrc[ addr+i ].m_value;
-		}
-#endif
-
-		sort4Bits1KeyValue(sortData, sortVal, startBit, lIdx, ldsSortData, ldsSortVal);
-
-		u32 keys[ELEMENTS_PER_WORK_ITEM];
-		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)
-			keys[i] = (sortData[i]>>startBit) & 0xf;
-
-		{	//	create histogram
-			u32 setIdx = lIdx/16;
-			if( lIdx < NUM_BUCKET )
-			{
-				localHistogram[lIdx] = 0;
-			}
-			ldsSortData[lIdx] = 0;
-			GROUP_LDS_BARRIER;
-
-			for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)
-#if defined(CHECK_BOUNDARY)
-				if( addr+i < n )
-#endif
-
-#if defined(NV_GPU)
-				SET_HISTOGRAM( setIdx, keys[i] )++;
-#else
-				AtomInc( SET_HISTOGRAM( setIdx, keys[i] ) );
-#endif
-			
-			GROUP_LDS_BARRIER;
-			
-			uint hIdx = NUM_BUCKET+lIdx;
-			if( lIdx < NUM_BUCKET )
-			{
-				u32 sum = 0;
-				for(int i=0; i<WG_SIZE/16; i++)
-				{
-					sum += SET_HISTOGRAM( i, lIdx );
-				}
-				myHistogram = sum;
-				localHistogram[hIdx] = sum;
-			}
-			GROUP_LDS_BARRIER;
-
-#if defined(USE_2LEVEL_REDUCE)
-			if( lIdx < NUM_BUCKET )
-			{
-				localHistogram[hIdx] = localHistogram[hIdx-1];
-				GROUP_MEM_FENCE;
-
-				u32 u0, u1, u2;
-				u0 = localHistogram[hIdx-3];
-				u1 = localHistogram[hIdx-2];
-				u2 = localHistogram[hIdx-1];
-				AtomAdd( localHistogram[hIdx], u0 + u1 + u2 );
-				GROUP_MEM_FENCE;
-				u0 = localHistogram[hIdx-12];
-				u1 = localHistogram[hIdx-8];
-				u2 = localHistogram[hIdx-4];
-				AtomAdd( localHistogram[hIdx], u0 + u1 + u2 );
-				GROUP_MEM_FENCE;
-			}
-#else
-			if( lIdx < NUM_BUCKET )
-			{
-				localHistogram[hIdx] = localHistogram[hIdx-1];
-				GROUP_MEM_FENCE;
-				localHistogram[hIdx] += localHistogram[hIdx-1];
-				GROUP_MEM_FENCE;
-				localHistogram[hIdx] += localHistogram[hIdx-2];
-				GROUP_MEM_FENCE;
-				localHistogram[hIdx] += localHistogram[hIdx-4];
-				GROUP_MEM_FENCE;
-				localHistogram[hIdx] += localHistogram[hIdx-8];
-				GROUP_MEM_FENCE;
-			}
-#endif
-			GROUP_LDS_BARRIER;
-		}
-
-    	{
-			for(int ie=0; ie<ELEMENTS_PER_WORK_ITEM; ie++)
-			{
-				int dataIdx = ELEMENTS_PER_WORK_ITEM*lIdx+ie;
-				int binIdx = keys[ie];
-				int groupOffset = localHistogramToCarry[binIdx];
-				int myIdx = dataIdx - localHistogram[NUM_BUCKET+binIdx];
-#if defined(CHECK_BOUNDARY)
-				if( addr+ie < n )
-				{
-                    if ((groupOffset + myIdx)<n)
-                    {
-                        if (sortData[ie]==sortVal[ie])
-                        {
-                            
-                            SortDataCL tmp;
-                            tmp.m_key = sortData[ie];
-                            tmp.m_value = sortVal[ie];
-                            if (tmp.m_key == tmp.m_value)
-                                gDst[groupOffset + myIdx ] = tmp;
-                        }
-                        
-                    }
-				}
-#else
-                if ((groupOffset + myIdx)<n)
-                {
-                    gDst[ groupOffset + myIdx ].m_key = sortData[ie];
-                    gDst[ groupOffset + myIdx ].m_value = sortVal[ie];
-                }
-#endif
-			}
-		}
-
-		GROUP_LDS_BARRIER;
-
-		if( lIdx < NUM_BUCKET )
-		{
-			localHistogramToCarry[lIdx] += myHistogram;
-		}
-		GROUP_LDS_BARRIER;
-	}
-}
-
-
-
-
-
-
-
-__kernel
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void SortAndScatterSortDataKernelSerial( __global const SortDataCL* restrict gSrc, __global const u32* rHistogram, __global SortDataCL* restrict gDst, int4 cb)
-{
-    
-	u32 gIdx = GET_GLOBAL_IDX;
-	u32 realLocalIdx = GET_LOCAL_IDX;
-	u32 wgIdx = GET_GROUP_IDX;
-	u32 wgSize = GET_GROUP_SIZE;
-	const int startBit = cb.m_startBit;
-	const int n = cb.m_n;
-	const int nWGs = cb.m_nWGs;
-	const int nBlocksPerWG = cb.m_nBlocksPerWG;
-
-    int counter[NUM_BUCKET];
-    
-    if (realLocalIdx>0)
-        return;
-    
-    for (int c=0;c<NUM_BUCKET;c++)
-        counter[c]=0;
-
-    const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;
-	
-	int nBlocks = (n)/blockSize - nBlocksPerWG*wgIdx;
-
-   for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++)
-  {
-     for (int lIdx=0;lIdx<WG_SIZE;lIdx++)
- 	{
-        int addr2 = iblock*blockSize + blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;
-        
-		for(int j=0; j<ELEMENTS_PER_WORK_ITEM; j++)
-		{
-            int i = addr2+j;
-			if( i < n )
-			{
-                int tableIdx;
-				tableIdx = (gSrc[i].m_key>>startBit) & 0xf;//0xf = NUM_TABLES-1
-                gDst[rHistogram[tableIdx*nWGs+wgIdx] + counter[tableIdx]] = gSrc[i];
-                counter[tableIdx] ++;
-			}
-		}
-	}
-  }
-    
-}
-
-
-__kernel
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void SortAndScatterKernelSerial( __global const u32* restrict gSrc, __global const u32* rHistogram, __global u32* restrict gDst, int4  cb )
-{
-    
-	u32 gIdx = GET_GLOBAL_IDX;
-	u32 realLocalIdx = GET_LOCAL_IDX;
-	u32 wgIdx = GET_GROUP_IDX;
-	u32 wgSize = GET_GROUP_SIZE;
-	const int startBit = cb.m_startBit;
-	const int n = cb.m_n;
-	const int nWGs = cb.m_nWGs;
-	const int nBlocksPerWG = cb.m_nBlocksPerWG;
-
-    int counter[NUM_BUCKET];
-    
-    if (realLocalIdx>0)
-        return;
-    
-    for (int c=0;c<NUM_BUCKET;c++)
-        counter[c]=0;
-
-    const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;
-	
-	int nBlocks = (n)/blockSize - nBlocksPerWG*wgIdx;
-
-   for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++)
-  {
-     for (int lIdx=0;lIdx<WG_SIZE;lIdx++)
- 	{
-        int addr2 = iblock*blockSize + blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;
-        
-		for(int j=0; j<ELEMENTS_PER_WORK_ITEM; j++)
-		{
-            int i = addr2+j;
-			if( i < n )
-			{
-                int tableIdx;
-				tableIdx = (gSrc[i]>>startBit) & 0xf;//0xf = NUM_TABLES-1
-                gDst[rHistogram[tableIdx*nWGs+wgIdx] + counter[tableIdx]] = gSrc[i];
-                counter[tableIdx] ++;
-			}
-		}
-	}
-  }
-    
-}
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/RadixSort32KernelsCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/RadixSort32KernelsCL.h
deleted file mode 100644
index fb4bdda303..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/RadixSort32KernelsCL.h
+++ /dev/null
@@ -1,909 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* radixSort32KernelsCL =
-	"/*\n"
-	"Bullet Continuous Collision Detection and Physics Library\n"
-	"Copyright (c) 2011 Advanced Micro Devices, Inc.  http://bulletphysics.org\n"
-	"This software is provided 'as-is', without any express or implied warranty.\n"
-	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-	"Permission is granted to anyone to use this software for any purpose, \n"
-	"including commercial applications, and to alter it and redistribute it freely, \n"
-	"subject to the following restrictions:\n"
-	"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.\n"
-	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-	"3. This notice may not be removed or altered from any source distribution.\n"
-	"*/\n"
-	"//Author Takahiro Harada\n"
-	"//#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
-	"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
-	"typedef unsigned int u32;\n"
-	"#define GET_GROUP_IDX get_group_id(0)\n"
-	"#define GET_LOCAL_IDX get_local_id(0)\n"
-	"#define GET_GLOBAL_IDX get_global_id(0)\n"
-	"#define GET_GROUP_SIZE get_local_size(0)\n"
-	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-	"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
-	"#define AtomInc(x) atom_inc(&(x))\n"
-	"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
-	"#define AtomAdd(x, value) atom_add(&(x), value)\n"
-	"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
-	"#define make_uint4 (uint4)\n"
-	"#define make_uint2 (uint2)\n"
-	"#define make_int2 (int2)\n"
-	"#define WG_SIZE 64\n"
-	"#define ELEMENTS_PER_WORK_ITEM (256/WG_SIZE)\n"
-	"#define BITS_PER_PASS 4\n"
-	"#define NUM_BUCKET (1<<BITS_PER_PASS)\n"
-	"typedef uchar u8;\n"
-	"//	this isn't optimization for VLIW. But just reducing writes. \n"
-	"#define USE_2LEVEL_REDUCE 1\n"
-	"//#define CHECK_BOUNDARY 1\n"
-	"//#define NV_GPU 1\n"
-	"//	Cypress\n"
-	"#define nPerWI 16\n"
-	"//	Cayman\n"
-	"//#define nPerWI 20\n"
-	"#define m_n x\n"
-	"#define m_nWGs y\n"
-	"#define m_startBit z\n"
-	"#define m_nBlocksPerWG w\n"
-	"/*\n"
-	"typedef struct\n"
-	"{\n"
-	"	int m_n;\n"
-	"	int m_nWGs;\n"
-	"	int m_startBit;\n"
-	"	int m_nBlocksPerWG;\n"
-	"} ConstBuffer;\n"
-	"*/\n"
-	"typedef struct\n"
-	"{\n"
-	"	unsigned int m_key;\n"
-	"	unsigned int m_value;\n"
-	"} SortDataCL;\n"
-	"uint prefixScanVectorEx( uint4* data )\n"
-	"{\n"
-	"	u32 sum = 0;\n"
-	"	u32 tmp = data[0].x;\n"
-	"	data[0].x = sum;\n"
-	"	sum += tmp;\n"
-	"	tmp = data[0].y;\n"
-	"	data[0].y = sum;\n"
-	"	sum += tmp;\n"
-	"	tmp = data[0].z;\n"
-	"	data[0].z = sum;\n"
-	"	sum += tmp;\n"
-	"	tmp = data[0].w;\n"
-	"	data[0].w = sum;\n"
-	"	sum += tmp;\n"
-	"	return sum;\n"
-	"}\n"
-	"u32 localPrefixSum( u32 pData, uint lIdx, uint* totalSum, __local u32* sorterSharedMemory, int wgSize /*64 or 128*/ )\n"
-	"{\n"
-	"	{	//	Set data\n"
-	"		sorterSharedMemory[lIdx] = 0;\n"
-	"		sorterSharedMemory[lIdx+wgSize] = pData;\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	{	//	Prefix sum\n"
-	"		int idx = 2*lIdx + (wgSize+1);\n"
-	"#if defined(USE_2LEVEL_REDUCE)\n"
-	"		if( lIdx < 64 )\n"
-	"		{\n"
-	"			u32 u0, u1, u2;\n"
-	"			u0 = sorterSharedMemory[idx-3];\n"
-	"			u1 = sorterSharedMemory[idx-2];\n"
-	"			u2 = sorterSharedMemory[idx-1];\n"
-	"			AtomAdd( sorterSharedMemory[idx], u0+u1+u2 );			\n"
-	"			GROUP_MEM_FENCE;\n"
-	"			u0 = sorterSharedMemory[idx-12];\n"
-	"			u1 = sorterSharedMemory[idx-8];\n"
-	"			u2 = sorterSharedMemory[idx-4];\n"
-	"			AtomAdd( sorterSharedMemory[idx], u0+u1+u2 );			\n"
-	"			GROUP_MEM_FENCE;\n"
-	"			u0 = sorterSharedMemory[idx-48];\n"
-	"			u1 = sorterSharedMemory[idx-32];\n"
-	"			u2 = sorterSharedMemory[idx-16];\n"
-	"			AtomAdd( sorterSharedMemory[idx], u0+u1+u2 );			\n"
-	"			GROUP_MEM_FENCE;\n"
-	"			if( wgSize > 64 )\n"
-	"			{\n"
-	"				sorterSharedMemory[idx] += sorterSharedMemory[idx-64];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"			}\n"
-	"			sorterSharedMemory[idx-1] += sorterSharedMemory[idx-2];\n"
-	"			GROUP_MEM_FENCE;\n"
-	"		}\n"
-	"#else\n"
-	"		if( lIdx < 64 )\n"
-	"		{\n"
-	"			sorterSharedMemory[idx] += sorterSharedMemory[idx-1];\n"
-	"			GROUP_MEM_FENCE;\n"
-	"			sorterSharedMemory[idx] += sorterSharedMemory[idx-2];			\n"
-	"			GROUP_MEM_FENCE;\n"
-	"			sorterSharedMemory[idx] += sorterSharedMemory[idx-4];\n"
-	"			GROUP_MEM_FENCE;\n"
-	"			sorterSharedMemory[idx] += sorterSharedMemory[idx-8];\n"
-	"			GROUP_MEM_FENCE;\n"
-	"			sorterSharedMemory[idx] += sorterSharedMemory[idx-16];\n"
-	"			GROUP_MEM_FENCE;\n"
-	"			sorterSharedMemory[idx] += sorterSharedMemory[idx-32];\n"
-	"			GROUP_MEM_FENCE;\n"
-	"			if( wgSize > 64 )\n"
-	"			{\n"
-	"				sorterSharedMemory[idx] += sorterSharedMemory[idx-64];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"			}\n"
-	"			sorterSharedMemory[idx-1] += sorterSharedMemory[idx-2];\n"
-	"			GROUP_MEM_FENCE;\n"
-	"		}\n"
-	"#endif\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	*totalSum = sorterSharedMemory[wgSize*2-1];\n"
-	"	u32 addValue = sorterSharedMemory[lIdx+wgSize-1];\n"
-	"	return addValue;\n"
-	"}\n"
-	"//__attribute__((reqd_work_group_size(128,1,1)))\n"
-	"uint4 localPrefixSum128V( uint4 pData, uint lIdx, uint* totalSum, __local u32* sorterSharedMemory )\n"
-	"{\n"
-	"	u32 s4 = prefixScanVectorEx( &pData );\n"
-	"	u32 rank = localPrefixSum( s4, lIdx, totalSum, sorterSharedMemory, 128 );\n"
-	"	return pData + make_uint4( rank, rank, rank, rank );\n"
-	"}\n"
-	"//__attribute__((reqd_work_group_size(64,1,1)))\n"
-	"uint4 localPrefixSum64V( uint4 pData, uint lIdx, uint* totalSum, __local u32* sorterSharedMemory )\n"
-	"{\n"
-	"	u32 s4 = prefixScanVectorEx( &pData );\n"
-	"	u32 rank = localPrefixSum( s4, lIdx, totalSum, sorterSharedMemory, 64 );\n"
-	"	return pData + make_uint4( rank, rank, rank, rank );\n"
-	"}\n"
-	"u32 unpack4Key( u32 key, int keyIdx ){ return (key>>(keyIdx*8)) & 0xff;}\n"
-	"u32 bit8Scan(u32 v)\n"
-	"{\n"
-	"	return (v<<8) + (v<<16) + (v<<24);\n"
-	"}\n"
-	"//===\n"
-	"#define MY_HISTOGRAM(idx) localHistogramMat[(idx)*WG_SIZE+lIdx]\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"void StreamCountKernel( __global u32* gSrc, __global u32* histogramOut, int4 cb )\n"
-	"{\n"
-	"	__local u32 localHistogramMat[NUM_BUCKET*WG_SIZE];\n"
-	"	u32 gIdx = GET_GLOBAL_IDX;\n"
-	"	u32 lIdx = GET_LOCAL_IDX;\n"
-	"	u32 wgIdx = GET_GROUP_IDX;\n"
-	"	u32 wgSize = GET_GROUP_SIZE;\n"
-	"	const int startBit = cb.m_startBit;\n"
-	"	const int n = cb.m_n;\n"
-	"	const int nWGs = cb.m_nWGs;\n"
-	"	const int nBlocksPerWG = cb.m_nBlocksPerWG;\n"
-	"	for(int i=0; i<NUM_BUCKET; i++)\n"
-	"	{\n"
-	"		MY_HISTOGRAM(i) = 0;\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;\n"
-	"	u32 localKey;\n"
-	"	int nBlocks = (n)/blockSize - nBlocksPerWG*wgIdx;\n"
-	"	int addr = blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;\n"
-	"	for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++, addr+=blockSize)\n"
-	"	{\n"
-	"		//	MY_HISTOGRAM( localKeys.x ) ++ is much expensive than atomic add as it requires read and write while atomics can just add on AMD\n"
-	"		//	Using registers didn't perform well. It seems like use localKeys to address requires a lot of alu ops\n"
-	"		//	AMD: AtomInc performs better while NV prefers ++\n"
-	"		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
-	"		{\n"
-	"#if defined(CHECK_BOUNDARY)\n"
-	"			if( addr+i < n )\n"
-	"#endif\n"
-	"			{\n"
-	"				localKey = (gSrc[addr+i]>>startBit) & 0xf;\n"
-	"#if defined(NV_GPU)\n"
-	"				MY_HISTOGRAM( localKey )++;\n"
-	"#else\n"
-	"				AtomInc( MY_HISTOGRAM( localKey ) );\n"
-	"#endif\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	\n"
-	"	if( lIdx < NUM_BUCKET )\n"
-	"	{\n"
-	"		u32 sum = 0;\n"
-	"		for(int i=0; i<GET_GROUP_SIZE; i++)\n"
-	"		{\n"
-	"			sum += localHistogramMat[lIdx*WG_SIZE+(i+lIdx)%GET_GROUP_SIZE];\n"
-	"		}\n"
-	"		histogramOut[lIdx*nWGs+wgIdx] = sum;\n"
-	"	}\n"
-	"}\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"void StreamCountSortDataKernel( __global SortDataCL* gSrc, __global u32* histogramOut, int4  cb )\n"
-	"{\n"
-	"	__local u32 localHistogramMat[NUM_BUCKET*WG_SIZE];\n"
-	"	u32 gIdx = GET_GLOBAL_IDX;\n"
-	"	u32 lIdx = GET_LOCAL_IDX;\n"
-	"	u32 wgIdx = GET_GROUP_IDX;\n"
-	"	u32 wgSize = GET_GROUP_SIZE;\n"
-	"	const int startBit = cb.m_startBit;\n"
-	"	const int n = cb.m_n;\n"
-	"	const int nWGs = cb.m_nWGs;\n"
-	"	const int nBlocksPerWG = cb.m_nBlocksPerWG;\n"
-	"	for(int i=0; i<NUM_BUCKET; i++)\n"
-	"	{\n"
-	"		MY_HISTOGRAM(i) = 0;\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;\n"
-	"	u32 localKey;\n"
-	"	int nBlocks = (n)/blockSize - nBlocksPerWG*wgIdx;\n"
-	"	int addr = blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;\n"
-	"	for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++, addr+=blockSize)\n"
-	"	{\n"
-	"		//	MY_HISTOGRAM( localKeys.x ) ++ is much expensive than atomic add as it requires read and write while atomics can just add on AMD\n"
-	"		//	Using registers didn't perform well. It seems like use localKeys to address requires a lot of alu ops\n"
-	"		//	AMD: AtomInc performs better while NV prefers ++\n"
-	"		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
-	"		{\n"
-	"#if defined(CHECK_BOUNDARY)\n"
-	"			if( addr+i < n )\n"
-	"#endif\n"
-	"			{\n"
-	"				localKey = (gSrc[addr+i].m_key>>startBit) & 0xf;\n"
-	"#if defined(NV_GPU)\n"
-	"				MY_HISTOGRAM( localKey )++;\n"
-	"#else\n"
-	"				AtomInc( MY_HISTOGRAM( localKey ) );\n"
-	"#endif\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	\n"
-	"	if( lIdx < NUM_BUCKET )\n"
-	"	{\n"
-	"		u32 sum = 0;\n"
-	"		for(int i=0; i<GET_GROUP_SIZE; i++)\n"
-	"		{\n"
-	"			sum += localHistogramMat[lIdx*WG_SIZE+(i+lIdx)%GET_GROUP_SIZE];\n"
-	"		}\n"
-	"		histogramOut[lIdx*nWGs+wgIdx] = sum;\n"
-	"	}\n"
-	"}\n"
-	"#define nPerLane (nPerWI/4)\n"
-	"//	NUM_BUCKET*nWGs < 128*nPerWI\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(128,1,1)))\n"
-	"void PrefixScanKernel( __global u32* wHistogram1, int4  cb )\n"
-	"{\n"
-	"	__local u32 ldsTopScanData[128*2];\n"
-	"	u32 lIdx = GET_LOCAL_IDX;\n"
-	"	u32 wgIdx = GET_GROUP_IDX;\n"
-	"	const int nWGs = cb.m_nWGs;\n"
-	"	u32 data[nPerWI];\n"
-	"	for(int i=0; i<nPerWI; i++)\n"
-	"	{\n"
-	"		data[i] = 0;\n"
-	"		if( (nPerWI*lIdx+i) < NUM_BUCKET*nWGs )\n"
-	"			data[i] = wHistogram1[nPerWI*lIdx+i];\n"
-	"	}\n"
-	"	uint4 myData = make_uint4(0,0,0,0);\n"
-	"	for(int i=0; i<nPerLane; i++)\n"
-	"	{\n"
-	"		myData.x += data[nPerLane*0+i];\n"
-	"		myData.y += data[nPerLane*1+i];\n"
-	"		myData.z += data[nPerLane*2+i];\n"
-	"		myData.w += data[nPerLane*3+i];\n"
-	"	}\n"
-	"	uint totalSum;\n"
-	"	uint4 scanned = localPrefixSum128V( myData, lIdx, &totalSum, ldsTopScanData );\n"
-	"//	for(int j=0; j<4; j++) //	somehow it introduces a lot of branches\n"
-	"	{	int j = 0;\n"
-	"		u32 sum = 0;\n"
-	"		for(int i=0; i<nPerLane; i++)\n"
-	"		{\n"
-	"			u32 tmp = data[nPerLane*j+i];\n"
-	"			data[nPerLane*j+i] = sum;\n"
-	"			sum += tmp;\n"
-	"		}\n"
-	"	}\n"
-	"	{	int j = 1;\n"
-	"		u32 sum = 0;\n"
-	"		for(int i=0; i<nPerLane; i++)\n"
-	"		{\n"
-	"			u32 tmp = data[nPerLane*j+i];\n"
-	"			data[nPerLane*j+i] = sum;\n"
-	"			sum += tmp;\n"
-	"		}\n"
-	"	}\n"
-	"	{	int j = 2;\n"
-	"		u32 sum = 0;\n"
-	"		for(int i=0; i<nPerLane; i++)\n"
-	"		{\n"
-	"			u32 tmp = data[nPerLane*j+i];\n"
-	"			data[nPerLane*j+i] = sum;\n"
-	"			sum += tmp;\n"
-	"		}\n"
-	"	}\n"
-	"	{	int j = 3;\n"
-	"		u32 sum = 0;\n"
-	"		for(int i=0; i<nPerLane; i++)\n"
-	"		{\n"
-	"			u32 tmp = data[nPerLane*j+i];\n"
-	"			data[nPerLane*j+i] = sum;\n"
-	"			sum += tmp;\n"
-	"		}\n"
-	"	}\n"
-	"	for(int i=0; i<nPerLane; i++)\n"
-	"	{\n"
-	"		data[nPerLane*0+i] += scanned.x;\n"
-	"		data[nPerLane*1+i] += scanned.y;\n"
-	"		data[nPerLane*2+i] += scanned.z;\n"
-	"		data[nPerLane*3+i] += scanned.w;\n"
-	"	}\n"
-	"	for(int i=0; i<nPerWI; i++)\n"
-	"	{\n"
-	"		int index = nPerWI*lIdx+i;\n"
-	"		if (index < NUM_BUCKET*nWGs)\n"
-	"			wHistogram1[nPerWI*lIdx+i] = data[i];\n"
-	"	}\n"
-	"}\n"
-	"//	4 scan, 4 exchange\n"
-	"void sort4Bits(u32 sortData[4], int startBit, int lIdx, __local u32* ldsSortData)\n"
-	"{\n"
-	"	for(int bitIdx=0; bitIdx<BITS_PER_PASS; bitIdx++)\n"
-	"	{\n"
-	"		u32 mask = (1<<bitIdx);\n"
-	"		uint4 cmpResult = make_uint4( (sortData[0]>>startBit) & mask, (sortData[1]>>startBit) & mask, (sortData[2]>>startBit) & mask, (sortData[3]>>startBit) & mask );\n"
-	"		uint4 prefixSum = SELECT_UINT4( make_uint4(1,1,1,1), make_uint4(0,0,0,0), cmpResult != make_uint4(0,0,0,0) );\n"
-	"		u32 total;\n"
-	"		prefixSum = localPrefixSum64V( prefixSum, lIdx, &total, ldsSortData );\n"
-	"		{\n"
-	"			uint4 localAddr = make_uint4(lIdx*4+0,lIdx*4+1,lIdx*4+2,lIdx*4+3);\n"
-	"			uint4 dstAddr = localAddr - prefixSum + make_uint4( total, total, total, total );\n"
-	"			dstAddr = SELECT_UINT4( prefixSum, dstAddr, cmpResult != make_uint4(0, 0, 0, 0) );\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"			ldsSortData[dstAddr.x] = sortData[0];\n"
-	"			ldsSortData[dstAddr.y] = sortData[1];\n"
-	"			ldsSortData[dstAddr.z] = sortData[2];\n"
-	"			ldsSortData[dstAddr.w] = sortData[3];\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"			sortData[0] = ldsSortData[localAddr.x];\n"
-	"			sortData[1] = ldsSortData[localAddr.y];\n"
-	"			sortData[2] = ldsSortData[localAddr.z];\n"
-	"			sortData[3] = ldsSortData[localAddr.w];\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"		}\n"
-	"	}\n"
-	"}\n"
-	"//	2 scan, 2 exchange\n"
-	"void sort4Bits1(u32 sortData[4], int startBit, int lIdx, __local u32* ldsSortData)\n"
-	"{\n"
-	"	for(uint ibit=0; ibit<BITS_PER_PASS; ibit+=2)\n"
-	"	{\n"
-	"		uint4 b = make_uint4((sortData[0]>>(startBit+ibit)) & 0x3, \n"
-	"			(sortData[1]>>(startBit+ibit)) & 0x3, \n"
-	"			(sortData[2]>>(startBit+ibit)) & 0x3, \n"
-	"			(sortData[3]>>(startBit+ibit)) & 0x3);\n"
-	"		u32 key4;\n"
-	"		u32 sKeyPacked[4] = { 0, 0, 0, 0 };\n"
-	"		{\n"
-	"			sKeyPacked[0] |= 1<<(8*b.x);\n"
-	"			sKeyPacked[1] |= 1<<(8*b.y);\n"
-	"			sKeyPacked[2] |= 1<<(8*b.z);\n"
-	"			sKeyPacked[3] |= 1<<(8*b.w);\n"
-	"			key4 = sKeyPacked[0] + sKeyPacked[1] + sKeyPacked[2] + sKeyPacked[3];\n"
-	"		}\n"
-	"		u32 rankPacked;\n"
-	"		u32 sumPacked;\n"
-	"		{\n"
-	"			rankPacked = localPrefixSum( key4, lIdx, &sumPacked, ldsSortData, WG_SIZE );\n"
-	"		}\n"
-	"		GROUP_LDS_BARRIER;\n"
-	"		u32 newOffset[4] = { 0,0,0,0 };\n"
-	"		{\n"
-	"			u32 sumScanned = bit8Scan( sumPacked );\n"
-	"			u32 scannedKeys[4];\n"
-	"			scannedKeys[0] = 1<<(8*b.x);\n"
-	"			scannedKeys[1] = 1<<(8*b.y);\n"
-	"			scannedKeys[2] = 1<<(8*b.z);\n"
-	"			scannedKeys[3] = 1<<(8*b.w);\n"
-	"			{	//	4 scans at once\n"
-	"				u32 sum4 = 0;\n"
-	"				for(int ie=0; ie<4; ie++)\n"
-	"				{\n"
-	"					u32 tmp = scannedKeys[ie];\n"
-	"					scannedKeys[ie] = sum4;\n"
-	"					sum4 += tmp;\n"
-	"				}\n"
-	"			}\n"
-	"			{\n"
-	"				u32 sumPlusRank = sumScanned + rankPacked;\n"
-	"				{	u32 ie = b.x;\n"
-	"					scannedKeys[0] += sumPlusRank;\n"
-	"					newOffset[0] = unpack4Key( scannedKeys[0], ie );\n"
-	"				}\n"
-	"				{	u32 ie = b.y;\n"
-	"					scannedKeys[1] += sumPlusRank;\n"
-	"					newOffset[1] = unpack4Key( scannedKeys[1], ie );\n"
-	"				}\n"
-	"				{	u32 ie = b.z;\n"
-	"					scannedKeys[2] += sumPlusRank;\n"
-	"					newOffset[2] = unpack4Key( scannedKeys[2], ie );\n"
-	"				}\n"
-	"				{	u32 ie = b.w;\n"
-	"					scannedKeys[3] += sumPlusRank;\n"
-	"					newOffset[3] = unpack4Key( scannedKeys[3], ie );\n"
-	"				}\n"
-	"			}\n"
-	"		}\n"
-	"		GROUP_LDS_BARRIER;\n"
-	"		{\n"
-	"			ldsSortData[newOffset[0]] = sortData[0];\n"
-	"			ldsSortData[newOffset[1]] = sortData[1];\n"
-	"			ldsSortData[newOffset[2]] = sortData[2];\n"
-	"			ldsSortData[newOffset[3]] = sortData[3];\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"			u32 dstAddr = 4*lIdx;\n"
-	"			sortData[0] = ldsSortData[dstAddr+0];\n"
-	"			sortData[1] = ldsSortData[dstAddr+1];\n"
-	"			sortData[2] = ldsSortData[dstAddr+2];\n"
-	"			sortData[3] = ldsSortData[dstAddr+3];\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"		}\n"
-	"	}\n"
-	"}\n"
-	"#define SET_HISTOGRAM(setIdx, key) ldsSortData[(setIdx)*NUM_BUCKET+key]\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"void SortAndScatterKernel( __global const u32* restrict gSrc, __global const u32* rHistogram, __global u32* restrict gDst, int4  cb )\n"
-	"{\n"
-	"	__local u32 ldsSortData[WG_SIZE*ELEMENTS_PER_WORK_ITEM+16];\n"
-	"	__local u32 localHistogramToCarry[NUM_BUCKET];\n"
-	"	__local u32 localHistogram[NUM_BUCKET*2];\n"
-	"	u32 gIdx = GET_GLOBAL_IDX;\n"
-	"	u32 lIdx = GET_LOCAL_IDX;\n"
-	"	u32 wgIdx = GET_GROUP_IDX;\n"
-	"	u32 wgSize = GET_GROUP_SIZE;\n"
-	"	const int n = cb.m_n;\n"
-	"	const int nWGs = cb.m_nWGs;\n"
-	"	const int startBit = cb.m_startBit;\n"
-	"	const int nBlocksPerWG = cb.m_nBlocksPerWG;\n"
-	"	if( lIdx < (NUM_BUCKET) )\n"
-	"	{\n"
-	"		localHistogramToCarry[lIdx] = rHistogram[lIdx*nWGs + wgIdx];\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"	const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;\n"
-	"	int nBlocks = n/blockSize - nBlocksPerWG*wgIdx;\n"
-	"	int addr = blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;\n"
-	"	for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++, addr+=blockSize)\n"
-	"	{\n"
-	"		u32 myHistogram = 0;\n"
-	"		u32 sortData[ELEMENTS_PER_WORK_ITEM];\n"
-	"		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
-	"#if defined(CHECK_BOUNDARY)\n"
-	"			sortData[i] = ( addr+i < n )? gSrc[ addr+i ] : 0xffffffff;\n"
-	"#else\n"
-	"			sortData[i] = gSrc[ addr+i ];\n"
-	"#endif\n"
-	"		sort4Bits(sortData, startBit, lIdx, ldsSortData);\n"
-	"		u32 keys[ELEMENTS_PER_WORK_ITEM];\n"
-	"		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
-	"			keys[i] = (sortData[i]>>startBit) & 0xf;\n"
-	"		{	//	create histogram\n"
-	"			u32 setIdx = lIdx/16;\n"
-	"			if( lIdx < NUM_BUCKET )\n"
-	"			{\n"
-	"				localHistogram[lIdx] = 0;\n"
-	"			}\n"
-	"			ldsSortData[lIdx] = 0;\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"			for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
-	"#if defined(CHECK_BOUNDARY)\n"
-	"				if( addr+i < n )\n"
-	"#endif\n"
-	"#if defined(NV_GPU)\n"
-	"				SET_HISTOGRAM( setIdx, keys[i] )++;\n"
-	"#else\n"
-	"				AtomInc( SET_HISTOGRAM( setIdx, keys[i] ) );\n"
-	"#endif\n"
-	"			\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"			\n"
-	"			uint hIdx = NUM_BUCKET+lIdx;\n"
-	"			if( lIdx < NUM_BUCKET )\n"
-	"			{\n"
-	"				u32 sum = 0;\n"
-	"				for(int i=0; i<WG_SIZE/16; i++)\n"
-	"				{\n"
-	"					sum += SET_HISTOGRAM( i, lIdx );\n"
-	"				}\n"
-	"				myHistogram = sum;\n"
-	"				localHistogram[hIdx] = sum;\n"
-	"			}\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"#if defined(USE_2LEVEL_REDUCE)\n"
-	"			if( lIdx < NUM_BUCKET )\n"
-	"			{\n"
-	"				localHistogram[hIdx] = localHistogram[hIdx-1];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"				u32 u0, u1, u2;\n"
-	"				u0 = localHistogram[hIdx-3];\n"
-	"				u1 = localHistogram[hIdx-2];\n"
-	"				u2 = localHistogram[hIdx-1];\n"
-	"				AtomAdd( localHistogram[hIdx], u0 + u1 + u2 );\n"
-	"				GROUP_MEM_FENCE;\n"
-	"				u0 = localHistogram[hIdx-12];\n"
-	"				u1 = localHistogram[hIdx-8];\n"
-	"				u2 = localHistogram[hIdx-4];\n"
-	"				AtomAdd( localHistogram[hIdx], u0 + u1 + u2 );\n"
-	"				GROUP_MEM_FENCE;\n"
-	"			}\n"
-	"#else\n"
-	"			if( lIdx < NUM_BUCKET )\n"
-	"			{\n"
-	"				localHistogram[hIdx] = localHistogram[hIdx-1];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"				localHistogram[hIdx] += localHistogram[hIdx-1];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"				localHistogram[hIdx] += localHistogram[hIdx-2];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"				localHistogram[hIdx] += localHistogram[hIdx-4];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"				localHistogram[hIdx] += localHistogram[hIdx-8];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"			}\n"
-	"#endif\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"		}\n"
-	"		{\n"
-	"			for(int ie=0; ie<ELEMENTS_PER_WORK_ITEM; ie++)\n"
-	"			{\n"
-	"				int dataIdx = ELEMENTS_PER_WORK_ITEM*lIdx+ie;\n"
-	"				int binIdx = keys[ie];\n"
-	"				int groupOffset = localHistogramToCarry[binIdx];\n"
-	"				int myIdx = dataIdx - localHistogram[NUM_BUCKET+binIdx];\n"
-	"#if defined(CHECK_BOUNDARY)\n"
-	"				if( addr+ie < n )\n"
-	"#endif\n"
-	"				gDst[ groupOffset + myIdx ] = sortData[ie];\n"
-	"			}\n"
-	"		}\n"
-	"		GROUP_LDS_BARRIER;\n"
-	"		if( lIdx < NUM_BUCKET )\n"
-	"		{\n"
-	"			localHistogramToCarry[lIdx] += myHistogram;\n"
-	"		}\n"
-	"		GROUP_LDS_BARRIER;\n"
-	"	}\n"
-	"}\n"
-	"//	2 scan, 2 exchange\n"
-	"void sort4Bits1KeyValue(u32 sortData[4], int sortVal[4], int startBit, int lIdx, __local u32* ldsSortData, __local int *ldsSortVal)\n"
-	"{\n"
-	"	for(uint ibit=0; ibit<BITS_PER_PASS; ibit+=2)\n"
-	"	{\n"
-	"		uint4 b = make_uint4((sortData[0]>>(startBit+ibit)) & 0x3, \n"
-	"			(sortData[1]>>(startBit+ibit)) & 0x3, \n"
-	"			(sortData[2]>>(startBit+ibit)) & 0x3, \n"
-	"			(sortData[3]>>(startBit+ibit)) & 0x3);\n"
-	"		u32 key4;\n"
-	"		u32 sKeyPacked[4] = { 0, 0, 0, 0 };\n"
-	"		{\n"
-	"			sKeyPacked[0] |= 1<<(8*b.x);\n"
-	"			sKeyPacked[1] |= 1<<(8*b.y);\n"
-	"			sKeyPacked[2] |= 1<<(8*b.z);\n"
-	"			sKeyPacked[3] |= 1<<(8*b.w);\n"
-	"			key4 = sKeyPacked[0] + sKeyPacked[1] + sKeyPacked[2] + sKeyPacked[3];\n"
-	"		}\n"
-	"		u32 rankPacked;\n"
-	"		u32 sumPacked;\n"
-	"		{\n"
-	"			rankPacked = localPrefixSum( key4, lIdx, &sumPacked, ldsSortData, WG_SIZE );\n"
-	"		}\n"
-	"		GROUP_LDS_BARRIER;\n"
-	"		u32 newOffset[4] = { 0,0,0,0 };\n"
-	"		{\n"
-	"			u32 sumScanned = bit8Scan( sumPacked );\n"
-	"			u32 scannedKeys[4];\n"
-	"			scannedKeys[0] = 1<<(8*b.x);\n"
-	"			scannedKeys[1] = 1<<(8*b.y);\n"
-	"			scannedKeys[2] = 1<<(8*b.z);\n"
-	"			scannedKeys[3] = 1<<(8*b.w);\n"
-	"			{	//	4 scans at once\n"
-	"				u32 sum4 = 0;\n"
-	"				for(int ie=0; ie<4; ie++)\n"
-	"				{\n"
-	"					u32 tmp = scannedKeys[ie];\n"
-	"					scannedKeys[ie] = sum4;\n"
-	"					sum4 += tmp;\n"
-	"				}\n"
-	"			}\n"
-	"			{\n"
-	"				u32 sumPlusRank = sumScanned + rankPacked;\n"
-	"				{	u32 ie = b.x;\n"
-	"					scannedKeys[0] += sumPlusRank;\n"
-	"					newOffset[0] = unpack4Key( scannedKeys[0], ie );\n"
-	"				}\n"
-	"				{	u32 ie = b.y;\n"
-	"					scannedKeys[1] += sumPlusRank;\n"
-	"					newOffset[1] = unpack4Key( scannedKeys[1], ie );\n"
-	"				}\n"
-	"				{	u32 ie = b.z;\n"
-	"					scannedKeys[2] += sumPlusRank;\n"
-	"					newOffset[2] = unpack4Key( scannedKeys[2], ie );\n"
-	"				}\n"
-	"				{	u32 ie = b.w;\n"
-	"					scannedKeys[3] += sumPlusRank;\n"
-	"					newOffset[3] = unpack4Key( scannedKeys[3], ie );\n"
-	"				}\n"
-	"			}\n"
-	"		}\n"
-	"		GROUP_LDS_BARRIER;\n"
-	"		{\n"
-	"			ldsSortData[newOffset[0]] = sortData[0];\n"
-	"			ldsSortData[newOffset[1]] = sortData[1];\n"
-	"			ldsSortData[newOffset[2]] = sortData[2];\n"
-	"			ldsSortData[newOffset[3]] = sortData[3];\n"
-	"			ldsSortVal[newOffset[0]] = sortVal[0];\n"
-	"			ldsSortVal[newOffset[1]] = sortVal[1];\n"
-	"			ldsSortVal[newOffset[2]] = sortVal[2];\n"
-	"			ldsSortVal[newOffset[3]] = sortVal[3];\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"			u32 dstAddr = 4*lIdx;\n"
-	"			sortData[0] = ldsSortData[dstAddr+0];\n"
-	"			sortData[1] = ldsSortData[dstAddr+1];\n"
-	"			sortData[2] = ldsSortData[dstAddr+2];\n"
-	"			sortData[3] = ldsSortData[dstAddr+3];\n"
-	"			sortVal[0] = ldsSortVal[dstAddr+0];\n"
-	"			sortVal[1] = ldsSortVal[dstAddr+1];\n"
-	"			sortVal[2] = ldsSortVal[dstAddr+2];\n"
-	"			sortVal[3] = ldsSortVal[dstAddr+3];\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"		}\n"
-	"	}\n"
-	"}\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"void SortAndScatterSortDataKernel( __global const SortDataCL* restrict gSrc, __global const u32* rHistogram, __global SortDataCL* restrict gDst, int4 cb)\n"
-	"{\n"
-	"	__local int ldsSortData[WG_SIZE*ELEMENTS_PER_WORK_ITEM+16];\n"
-	"	__local int ldsSortVal[WG_SIZE*ELEMENTS_PER_WORK_ITEM+16];\n"
-	"	__local u32 localHistogramToCarry[NUM_BUCKET];\n"
-	"	__local u32 localHistogram[NUM_BUCKET*2];\n"
-	"	u32 gIdx = GET_GLOBAL_IDX;\n"
-	"	u32 lIdx = GET_LOCAL_IDX;\n"
-	"	u32 wgIdx = GET_GROUP_IDX;\n"
-	"	u32 wgSize = GET_GROUP_SIZE;\n"
-	"	const int n = cb.m_n;\n"
-	"	const int nWGs = cb.m_nWGs;\n"
-	"	const int startBit = cb.m_startBit;\n"
-	"	const int nBlocksPerWG = cb.m_nBlocksPerWG;\n"
-	"	if( lIdx < (NUM_BUCKET) )\n"
-	"	{\n"
-	"		localHistogramToCarry[lIdx] = rHistogram[lIdx*nWGs + wgIdx];\n"
-	"	}\n"
-	"	GROUP_LDS_BARRIER;\n"
-	"    \n"
-	"	const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;\n"
-	"	int nBlocks = n/blockSize - nBlocksPerWG*wgIdx;\n"
-	"	int addr = blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;\n"
-	"	for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++, addr+=blockSize)\n"
-	"	{\n"
-	"		u32 myHistogram = 0;\n"
-	"		int sortData[ELEMENTS_PER_WORK_ITEM];\n"
-	"		int sortVal[ELEMENTS_PER_WORK_ITEM];\n"
-	"		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
-	"#if defined(CHECK_BOUNDARY)\n"
-	"		{\n"
-	"			sortData[i] = ( addr+i < n )? gSrc[ addr+i ].m_key : 0xffffffff;\n"
-	"			sortVal[i] = ( addr+i < n )? gSrc[ addr+i ].m_value : 0xffffffff;\n"
-	"		}\n"
-	"#else\n"
-	"		{\n"
-	"			sortData[i] = gSrc[ addr+i ].m_key;\n"
-	"			sortVal[i] = gSrc[ addr+i ].m_value;\n"
-	"		}\n"
-	"#endif\n"
-	"		sort4Bits1KeyValue(sortData, sortVal, startBit, lIdx, ldsSortData, ldsSortVal);\n"
-	"		u32 keys[ELEMENTS_PER_WORK_ITEM];\n"
-	"		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
-	"			keys[i] = (sortData[i]>>startBit) & 0xf;\n"
-	"		{	//	create histogram\n"
-	"			u32 setIdx = lIdx/16;\n"
-	"			if( lIdx < NUM_BUCKET )\n"
-	"			{\n"
-	"				localHistogram[lIdx] = 0;\n"
-	"			}\n"
-	"			ldsSortData[lIdx] = 0;\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"			for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
-	"#if defined(CHECK_BOUNDARY)\n"
-	"				if( addr+i < n )\n"
-	"#endif\n"
-	"#if defined(NV_GPU)\n"
-	"				SET_HISTOGRAM( setIdx, keys[i] )++;\n"
-	"#else\n"
-	"				AtomInc( SET_HISTOGRAM( setIdx, keys[i] ) );\n"
-	"#endif\n"
-	"			\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"			\n"
-	"			uint hIdx = NUM_BUCKET+lIdx;\n"
-	"			if( lIdx < NUM_BUCKET )\n"
-	"			{\n"
-	"				u32 sum = 0;\n"
-	"				for(int i=0; i<WG_SIZE/16; i++)\n"
-	"				{\n"
-	"					sum += SET_HISTOGRAM( i, lIdx );\n"
-	"				}\n"
-	"				myHistogram = sum;\n"
-	"				localHistogram[hIdx] = sum;\n"
-	"			}\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"#if defined(USE_2LEVEL_REDUCE)\n"
-	"			if( lIdx < NUM_BUCKET )\n"
-	"			{\n"
-	"				localHistogram[hIdx] = localHistogram[hIdx-1];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"				u32 u0, u1, u2;\n"
-	"				u0 = localHistogram[hIdx-3];\n"
-	"				u1 = localHistogram[hIdx-2];\n"
-	"				u2 = localHistogram[hIdx-1];\n"
-	"				AtomAdd( localHistogram[hIdx], u0 + u1 + u2 );\n"
-	"				GROUP_MEM_FENCE;\n"
-	"				u0 = localHistogram[hIdx-12];\n"
-	"				u1 = localHistogram[hIdx-8];\n"
-	"				u2 = localHistogram[hIdx-4];\n"
-	"				AtomAdd( localHistogram[hIdx], u0 + u1 + u2 );\n"
-	"				GROUP_MEM_FENCE;\n"
-	"			}\n"
-	"#else\n"
-	"			if( lIdx < NUM_BUCKET )\n"
-	"			{\n"
-	"				localHistogram[hIdx] = localHistogram[hIdx-1];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"				localHistogram[hIdx] += localHistogram[hIdx-1];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"				localHistogram[hIdx] += localHistogram[hIdx-2];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"				localHistogram[hIdx] += localHistogram[hIdx-4];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"				localHistogram[hIdx] += localHistogram[hIdx-8];\n"
-	"				GROUP_MEM_FENCE;\n"
-	"			}\n"
-	"#endif\n"
-	"			GROUP_LDS_BARRIER;\n"
-	"		}\n"
-	"    	{\n"
-	"			for(int ie=0; ie<ELEMENTS_PER_WORK_ITEM; ie++)\n"
-	"			{\n"
-	"				int dataIdx = ELEMENTS_PER_WORK_ITEM*lIdx+ie;\n"
-	"				int binIdx = keys[ie];\n"
-	"				int groupOffset = localHistogramToCarry[binIdx];\n"
-	"				int myIdx = dataIdx - localHistogram[NUM_BUCKET+binIdx];\n"
-	"#if defined(CHECK_BOUNDARY)\n"
-	"				if( addr+ie < n )\n"
-	"				{\n"
-	"                    if ((groupOffset + myIdx)<n)\n"
-	"                    {\n"
-	"                        if (sortData[ie]==sortVal[ie])\n"
-	"                        {\n"
-	"                            \n"
-	"                            SortDataCL tmp;\n"
-	"                            tmp.m_key = sortData[ie];\n"
-	"                            tmp.m_value = sortVal[ie];\n"
-	"                            if (tmp.m_key == tmp.m_value)\n"
-	"                                gDst[groupOffset + myIdx ] = tmp;\n"
-	"                        }\n"
-	"                        \n"
-	"                    }\n"
-	"				}\n"
-	"#else\n"
-	"                if ((groupOffset + myIdx)<n)\n"
-	"                {\n"
-	"                    gDst[ groupOffset + myIdx ].m_key = sortData[ie];\n"
-	"                    gDst[ groupOffset + myIdx ].m_value = sortVal[ie];\n"
-	"                }\n"
-	"#endif\n"
-	"			}\n"
-	"		}\n"
-	"		GROUP_LDS_BARRIER;\n"
-	"		if( lIdx < NUM_BUCKET )\n"
-	"		{\n"
-	"			localHistogramToCarry[lIdx] += myHistogram;\n"
-	"		}\n"
-	"		GROUP_LDS_BARRIER;\n"
-	"	}\n"
-	"}\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"void SortAndScatterSortDataKernelSerial( __global const SortDataCL* restrict gSrc, __global const u32* rHistogram, __global SortDataCL* restrict gDst, int4 cb)\n"
-	"{\n"
-	"    \n"
-	"	u32 gIdx = GET_GLOBAL_IDX;\n"
-	"	u32 realLocalIdx = GET_LOCAL_IDX;\n"
-	"	u32 wgIdx = GET_GROUP_IDX;\n"
-	"	u32 wgSize = GET_GROUP_SIZE;\n"
-	"	const int startBit = cb.m_startBit;\n"
-	"	const int n = cb.m_n;\n"
-	"	const int nWGs = cb.m_nWGs;\n"
-	"	const int nBlocksPerWG = cb.m_nBlocksPerWG;\n"
-	"    int counter[NUM_BUCKET];\n"
-	"    \n"
-	"    if (realLocalIdx>0)\n"
-	"        return;\n"
-	"    \n"
-	"    for (int c=0;c<NUM_BUCKET;c++)\n"
-	"        counter[c]=0;\n"
-	"    const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;\n"
-	"	\n"
-	"	int nBlocks = (n)/blockSize - nBlocksPerWG*wgIdx;\n"
-	"   for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++)\n"
-	"  {\n"
-	"     for (int lIdx=0;lIdx<WG_SIZE;lIdx++)\n"
-	" 	{\n"
-	"        int addr2 = iblock*blockSize + blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;\n"
-	"        \n"
-	"		for(int j=0; j<ELEMENTS_PER_WORK_ITEM; j++)\n"
-	"		{\n"
-	"            int i = addr2+j;\n"
-	"			if( i < n )\n"
-	"			{\n"
-	"                int tableIdx;\n"
-	"				tableIdx = (gSrc[i].m_key>>startBit) & 0xf;//0xf = NUM_TABLES-1\n"
-	"                gDst[rHistogram[tableIdx*nWGs+wgIdx] + counter[tableIdx]] = gSrc[i];\n"
-	"                counter[tableIdx] ++;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"  }\n"
-	"    \n"
-	"}\n"
-	"__kernel\n"
-	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-	"void SortAndScatterKernelSerial( __global const u32* restrict gSrc, __global const u32* rHistogram, __global u32* restrict gDst, int4  cb )\n"
-	"{\n"
-	"    \n"
-	"	u32 gIdx = GET_GLOBAL_IDX;\n"
-	"	u32 realLocalIdx = GET_LOCAL_IDX;\n"
-	"	u32 wgIdx = GET_GROUP_IDX;\n"
-	"	u32 wgSize = GET_GROUP_SIZE;\n"
-	"	const int startBit = cb.m_startBit;\n"
-	"	const int n = cb.m_n;\n"
-	"	const int nWGs = cb.m_nWGs;\n"
-	"	const int nBlocksPerWG = cb.m_nBlocksPerWG;\n"
-	"    int counter[NUM_BUCKET];\n"
-	"    \n"
-	"    if (realLocalIdx>0)\n"
-	"        return;\n"
-	"    \n"
-	"    for (int c=0;c<NUM_BUCKET;c++)\n"
-	"        counter[c]=0;\n"
-	"    const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;\n"
-	"	\n"
-	"	int nBlocks = (n)/blockSize - nBlocksPerWG*wgIdx;\n"
-	"   for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++)\n"
-	"  {\n"
-	"     for (int lIdx=0;lIdx<WG_SIZE;lIdx++)\n"
-	" 	{\n"
-	"        int addr2 = iblock*blockSize + blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;\n"
-	"        \n"
-	"		for(int j=0; j<ELEMENTS_PER_WORK_ITEM; j++)\n"
-	"		{\n"
-	"            int i = addr2+j;\n"
-	"			if( i < n )\n"
-	"			{\n"
-	"                int tableIdx;\n"
-	"				tableIdx = (gSrc[i]>>startBit) & 0xf;//0xf = NUM_TABLES-1\n"
-	"                gDst[rHistogram[tableIdx*nWGs+wgIdx] + counter[tableIdx]] = gSrc[i];\n"
-	"                counter[tableIdx] ++;\n"
-	"			}\n"
-	"		}\n"
-	"	}\n"
-	"  }\n"
-	"    \n"
-	"}\n";