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.

48 files changed, 0 insertions, 22684 deletions

diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btTaskScheduler.cpp b/thirdparty/bullet/LinearMath/TaskScheduler/btTaskScheduler.cpp
deleted file mode 100644
index 5f1115c402..0000000000
--- a/thirdparty/bullet/LinearMath/TaskScheduler/btTaskScheduler.cpp
+++ /dev/null
@@ -1,792 +0,0 @@
-
-#include "LinearMath/btMinMax.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btThreads.h"
-#include "LinearMath/btQuickprof.h"
-#include <stdio.h>
-#include <algorithm>
-
-#if BT_THREADSAFE
-
-#include "btThreadSupportInterface.h"
-
-#if defined(_WIN32)
-
-#define WIN32_LEAN_AND_MEAN
-
-#include <windows.h>
-
-#endif
-
-typedef unsigned long long btU64;
-static const int kCacheLineSize = 64;
-
-void btSpinPause()
-{
-#if defined(_WIN32)
-	YieldProcessor();
-#endif
-}
-
-struct WorkerThreadStatus
-{
-	enum Type
-	{
-		kInvalid,
-		kWaitingForWork,
-		kWorking,
-		kSleeping,
-	};
-};
-
-ATTRIBUTE_ALIGNED64(class)
-WorkerThreadDirectives
-{
-	static const int kMaxThreadCount = BT_MAX_THREAD_COUNT;
-	// directives for all worker threads packed into a single cacheline
-	char m_threadDirs[kMaxThreadCount];
-
-public:
-	enum Type
-	{
-		kInvalid,
-		kGoToSleep,         // go to sleep
-		kStayAwakeButIdle,  // wait for not checking job queue
-		kScanForJobs,       // actively scan job queue for jobs
-	};
-	WorkerThreadDirectives()
-	{
-		for (int i = 0; i < kMaxThreadCount; ++i)
-		{
-			m_threadDirs[i] = 0;
-		}
-	}
-
-	Type getDirective(int threadId)
-	{
-		btAssert(threadId < kMaxThreadCount);
-		return static_cast<Type>(m_threadDirs[threadId]);
-	}
-
-	void setDirectiveByRange(int threadBegin, int threadEnd, Type dir)
-	{
-		btAssert(threadBegin < threadEnd);
-		btAssert(threadEnd <= kMaxThreadCount);
-		char dirChar = static_cast<char>(dir);
-		for (int i = threadBegin; i < threadEnd; ++i)
-		{
-			m_threadDirs[i] = dirChar;
-		}
-	}
-};
-
-class JobQueue;
-
-ATTRIBUTE_ALIGNED64(struct)
-ThreadLocalStorage
-{
-	int m_threadId;
-	WorkerThreadStatus::Type m_status;
-	int m_numJobsFinished;
-	btSpinMutex m_mutex;
-	btScalar m_sumResult;
-	WorkerThreadDirectives* m_directive;
-	JobQueue* m_queue;
-	btClock* m_clock;
-	unsigned int m_cooldownTime;
-};
-
-struct IJob
-{
-	virtual void executeJob(int threadId) = 0;
-};
-
-class ParallelForJob : public IJob
-{
-	const btIParallelForBody* m_body;
-	int m_begin;
-	int m_end;
-
-public:
-	ParallelForJob(int iBegin, int iEnd, const btIParallelForBody& body)
-	{
-		m_body = &body;
-		m_begin = iBegin;
-		m_end = iEnd;
-	}
-	virtual void executeJob(int threadId) BT_OVERRIDE
-	{
-		BT_PROFILE("executeJob");
-
-		// call the functor body to do the work
-		m_body->forLoop(m_begin, m_end);
-	}
-};
-
-class ParallelSumJob : public IJob
-{
-	const btIParallelSumBody* m_body;
-	ThreadLocalStorage* m_threadLocalStoreArray;
-	int m_begin;
-	int m_end;
-
-public:
-	ParallelSumJob(int iBegin, int iEnd, const btIParallelSumBody& body, ThreadLocalStorage* tls)
-	{
-		m_body = &body;
-		m_threadLocalStoreArray = tls;
-		m_begin = iBegin;
-		m_end = iEnd;
-	}
-	virtual void executeJob(int threadId) BT_OVERRIDE
-	{
-		BT_PROFILE("executeJob");
-
-		// call the functor body to do the work
-		btScalar val = m_body->sumLoop(m_begin, m_end);
-#if BT_PARALLEL_SUM_DETERMINISTISM
-		// by truncating bits of the result, we can make the parallelSum deterministic (at the expense of precision)
-		const float TRUNC_SCALE = float(1 << 19);
-		val = floor(val * TRUNC_SCALE + 0.5f) / TRUNC_SCALE;  // truncate some bits
-#endif
-		m_threadLocalStoreArray[threadId].m_sumResult += val;
-	}
-};
-
-ATTRIBUTE_ALIGNED64(class)
-JobQueue
-{
-	btThreadSupportInterface* m_threadSupport;
-	btCriticalSection* m_queueLock;
-	btSpinMutex m_mutex;
-
-	btAlignedObjectArray<IJob*> m_jobQueue;
-	char* m_jobMem;
-	int m_jobMemSize;
-	bool m_queueIsEmpty;
-	int m_tailIndex;
-	int m_headIndex;
-	int m_allocSize;
-	bool m_useSpinMutex;
-	btAlignedObjectArray<JobQueue*> m_neighborContexts;
-	char m_cachePadding[kCacheLineSize];  // prevent false sharing
-
-	void freeJobMem()
-	{
-		if (m_jobMem)
-		{
-			// free old
-			btAlignedFree(m_jobMem);
-			m_jobMem = NULL;
-		}
-	}
-	void resizeJobMem(int newSize)
-	{
-		if (newSize > m_jobMemSize)
-		{
-			freeJobMem();
-			m_jobMem = static_cast<char*>(btAlignedAlloc(newSize, kCacheLineSize));
-			m_jobMemSize = newSize;
-		}
-	}
-
-public:
-	JobQueue()
-	{
-		m_jobMem = NULL;
-		m_jobMemSize = 0;
-		m_threadSupport = NULL;
-		m_queueLock = NULL;
-		m_headIndex = 0;
-		m_tailIndex = 0;
-		m_useSpinMutex = false;
-	}
-	~JobQueue()
-	{
-		exit();
-	}
-	void exit()
-	{
-		freeJobMem();
-		if (m_queueLock && m_threadSupport)
-		{
-			m_threadSupport->deleteCriticalSection(m_queueLock);
-			m_queueLock = NULL;
-			m_threadSupport = 0;
-		}
-	}
-
-	void init(btThreadSupportInterface * threadSup, btAlignedObjectArray<JobQueue> * contextArray)
-	{
-		m_threadSupport = threadSup;
-		if (threadSup)
-		{
-			m_queueLock = m_threadSupport->createCriticalSection();
-		}
-		setupJobStealing(contextArray, contextArray->size());
-	}
-	void setupJobStealing(btAlignedObjectArray<JobQueue> * contextArray, int numActiveContexts)
-	{
-		btAlignedObjectArray<JobQueue>& contexts = *contextArray;
-		int selfIndex = 0;
-		for (int i = 0; i < contexts.size(); ++i)
-		{
-			if (this == &contexts[i])
-			{
-				selfIndex = i;
-				break;
-			}
-		}
-		int numNeighbors = btMin(2, contexts.size() - 1);
-		int neighborOffsets[] = {-1, 1, -2, 2, -3, 3};
-		int numOffsets = sizeof(neighborOffsets) / sizeof(neighborOffsets[0]);
-		m_neighborContexts.reserve(numNeighbors);
-		m_neighborContexts.resizeNoInitialize(0);
-		for (int i = 0; i < numOffsets && m_neighborContexts.size() < numNeighbors; i++)
-		{
-			int neighborIndex = selfIndex + neighborOffsets[i];
-			if (neighborIndex >= 0 && neighborIndex < numActiveContexts)
-			{
-				m_neighborContexts.push_back(&contexts[neighborIndex]);
-			}
-		}
-	}
-
-	bool isQueueEmpty() const { return m_queueIsEmpty; }
-	void lockQueue()
-	{
-		if (m_useSpinMutex)
-		{
-			m_mutex.lock();
-		}
-		else
-		{
-			m_queueLock->lock();
-		}
-	}
-	void unlockQueue()
-	{
-		if (m_useSpinMutex)
-		{
-			m_mutex.unlock();
-		}
-		else
-		{
-			m_queueLock->unlock();
-		}
-	}
-	void clearQueue(int jobCount, int jobSize)
-	{
-		lockQueue();
-		m_headIndex = 0;
-		m_tailIndex = 0;
-		m_allocSize = 0;
-		m_queueIsEmpty = true;
-		int jobBufSize = jobSize * jobCount;
-		// make sure we have enough memory allocated to store jobs
-		if (jobBufSize > m_jobMemSize)
-		{
-			resizeJobMem(jobBufSize);
-		}
-		// make sure job queue is big enough
-		if (jobCount > m_jobQueue.capacity())
-		{
-			m_jobQueue.reserve(jobCount);
-		}
-		unlockQueue();
-		m_jobQueue.resizeNoInitialize(0);
-	}
-	void* allocJobMem(int jobSize)
-	{
-		btAssert(m_jobMemSize >= (m_allocSize + jobSize));
-		void* jobMem = &m_jobMem[m_allocSize];
-		m_allocSize += jobSize;
-		return jobMem;
-	}
-	void submitJob(IJob * job)
-	{
-		btAssert(reinterpret_cast<char*>(job) >= &m_jobMem[0] && reinterpret_cast<char*>(job) < &m_jobMem[0] + m_allocSize);
-		m_jobQueue.push_back(job);
-		lockQueue();
-		m_tailIndex++;
-		m_queueIsEmpty = false;
-		unlockQueue();
-	}
-	IJob* consumeJobFromOwnQueue()
-	{
-		if (m_queueIsEmpty)
-		{
-			// lock free path. even if this is taken erroneously it isn't harmful
-			return NULL;
-		}
-		IJob* job = NULL;
-		lockQueue();
-		if (!m_queueIsEmpty)
-		{
-			job = m_jobQueue[m_headIndex++];
-			btAssert(reinterpret_cast<char*>(job) >= &m_jobMem[0] && reinterpret_cast<char*>(job) < &m_jobMem[0] + m_allocSize);
-			if (m_headIndex == m_tailIndex)
-			{
-				m_queueIsEmpty = true;
-			}
-		}
-		unlockQueue();
-		return job;
-	}
-	IJob* consumeJob()
-	{
-		if (IJob* job = consumeJobFromOwnQueue())
-		{
-			return job;
-		}
-		// own queue is empty, try to steal from neighbor
-		for (int i = 0; i < m_neighborContexts.size(); ++i)
-		{
-			JobQueue* otherContext = m_neighborContexts[i];
-			if (IJob* job = otherContext->consumeJobFromOwnQueue())
-			{
-				return job;
-			}
-		}
-		return NULL;
-	}
-};
-
-static void WorkerThreadFunc(void* userPtr)
-{
-	BT_PROFILE("WorkerThreadFunc");
-	ThreadLocalStorage* localStorage = (ThreadLocalStorage*)userPtr;
-	JobQueue* jobQueue = localStorage->m_queue;
-
-	bool shouldSleep = false;
-	int threadId = localStorage->m_threadId;
-	while (!shouldSleep)
-	{
-		// do work
-		localStorage->m_mutex.lock();
-		while (IJob* job = jobQueue->consumeJob())
-		{
-			localStorage->m_status = WorkerThreadStatus::kWorking;
-			job->executeJob(threadId);
-			localStorage->m_numJobsFinished++;
-		}
-		localStorage->m_status = WorkerThreadStatus::kWaitingForWork;
-		localStorage->m_mutex.unlock();
-		btU64 clockStart = localStorage->m_clock->getTimeMicroseconds();
-		// while queue is empty,
-		while (jobQueue->isQueueEmpty())
-		{
-			// todo: spin wait a bit to avoid hammering the empty queue
-			btSpinPause();
-			if (localStorage->m_directive->getDirective(threadId) == WorkerThreadDirectives::kGoToSleep)
-			{
-				shouldSleep = true;
-				break;
-			}
-			// if jobs are incoming,
-			if (localStorage->m_directive->getDirective(threadId) == WorkerThreadDirectives::kScanForJobs)
-			{
-				clockStart = localStorage->m_clock->getTimeMicroseconds();  // reset clock
-			}
-			else
-			{
-				for (int i = 0; i < 50; ++i)
-				{
-					btSpinPause();
-					btSpinPause();
-					btSpinPause();
-					btSpinPause();
-					if (localStorage->m_directive->getDirective(threadId) == WorkerThreadDirectives::kScanForJobs || !jobQueue->isQueueEmpty())
-					{
-						break;
-					}
-				}
-				// if no jobs incoming and queue has been empty for the cooldown time, sleep
-				btU64 timeElapsed = localStorage->m_clock->getTimeMicroseconds() - clockStart;
-				if (timeElapsed > localStorage->m_cooldownTime)
-				{
-					shouldSleep = true;
-					break;
-				}
-			}
-		}
-	}
-	{
-		BT_PROFILE("sleep");
-		// go sleep
-		localStorage->m_mutex.lock();
-		localStorage->m_status = WorkerThreadStatus::kSleeping;
-		localStorage->m_mutex.unlock();
-	}
-}
-
-class btTaskSchedulerDefault : public btITaskScheduler
-{
-	btThreadSupportInterface* m_threadSupport;
-	WorkerThreadDirectives* m_workerDirective;
-	btAlignedObjectArray<JobQueue> m_jobQueues;
-	btAlignedObjectArray<JobQueue*> m_perThreadJobQueues;
-	btAlignedObjectArray<ThreadLocalStorage> m_threadLocalStorage;
-	btSpinMutex m_antiNestingLock;  // prevent nested parallel-for
-	btClock m_clock;
-	int m_numThreads;
-	int m_numWorkerThreads;
-	int m_numActiveJobQueues;
-	int m_maxNumThreads;
-	int m_numJobs;
-	static const int kFirstWorkerThreadId = 1;
-
-public:
-	btTaskSchedulerDefault() : btITaskScheduler("ThreadSupport")
-	{
-		m_threadSupport = NULL;
-		m_workerDirective = NULL;
-	}
-
-	virtual ~btTaskSchedulerDefault()
-	{
-		waitForWorkersToSleep();
-
-		for (int i = 0; i < m_jobQueues.size(); ++i)
-		{
-			m_jobQueues[i].exit();
-		}
-
-		if (m_threadSupport)
-		{
-			delete m_threadSupport;
-			m_threadSupport = NULL;
-		}
-		if (m_workerDirective)
-		{
-			btAlignedFree(m_workerDirective);
-			m_workerDirective = NULL;
-		}
-	}
-
-	void init()
-	{
-		btThreadSupportInterface::ConstructionInfo constructionInfo("TaskScheduler", WorkerThreadFunc);
-		m_threadSupport = btThreadSupportInterface::create(constructionInfo);
-		m_workerDirective = static_cast<WorkerThreadDirectives*>(btAlignedAlloc(sizeof(*m_workerDirective), 64));
-
-		m_numWorkerThreads = m_threadSupport->getNumWorkerThreads();
-		m_maxNumThreads = m_threadSupport->getNumWorkerThreads() + 1;
-		m_numThreads = m_maxNumThreads;
-		// ideal to have one job queue for each physical processor (except for the main thread which needs no queue)
-		int numThreadsPerQueue = m_threadSupport->getLogicalToPhysicalCoreRatio();
-		int numJobQueues = (numThreadsPerQueue == 1) ? (m_maxNumThreads - 1) : (m_maxNumThreads / numThreadsPerQueue);
-		m_jobQueues.resize(numJobQueues);
-		m_numActiveJobQueues = numJobQueues;
-		for (int i = 0; i < m_jobQueues.size(); ++i)
-		{
-			m_jobQueues[i].init(m_threadSupport, &m_jobQueues);
-		}
-		m_perThreadJobQueues.resize(m_numThreads);
-		for (int i = 0; i < m_numThreads; i++)
-		{
-			JobQueue* jq = NULL;
-			// only worker threads get a job queue
-			if (i > 0)
-			{
-				if (numThreadsPerQueue == 1)
-				{
-					// one queue per worker thread
-					jq = &m_jobQueues[i - kFirstWorkerThreadId];
-				}
-				else
-				{
-					// 2 threads share each queue
-					jq = &m_jobQueues[i / numThreadsPerQueue];
-				}
-			}
-			m_perThreadJobQueues[i] = jq;
-		}
-		m_threadLocalStorage.resize(m_numThreads);
-		for (int i = 0; i < m_numThreads; i++)
-		{
-			ThreadLocalStorage& storage = m_threadLocalStorage[i];
-			storage.m_threadId = i;
-			storage.m_directive = m_workerDirective;
-			storage.m_status = WorkerThreadStatus::kSleeping;
-			storage.m_cooldownTime = 100;  // 100 microseconds, threads go to sleep after this long if they have nothing to do
-			storage.m_clock = &m_clock;
-			storage.m_queue = m_perThreadJobQueues[i];
-		}
-		setWorkerDirectives(WorkerThreadDirectives::kGoToSleep);  // no work for them yet
-		setNumThreads(m_threadSupport->getCacheFriendlyNumThreads());
-	}
-
-	void setWorkerDirectives(WorkerThreadDirectives::Type dir)
-	{
-		m_workerDirective->setDirectiveByRange(kFirstWorkerThreadId, m_numThreads, dir);
-	}
-
-	virtual int getMaxNumThreads() const BT_OVERRIDE
-	{
-		return m_maxNumThreads;
-	}
-
-	virtual int getNumThreads() const BT_OVERRIDE
-	{
-		return m_numThreads;
-	}
-
-	virtual void setNumThreads(int numThreads) BT_OVERRIDE
-	{
-		m_numThreads = btMax(btMin(numThreads, int(m_maxNumThreads)), 1);
-		m_numWorkerThreads = m_numThreads - 1;
-		m_numActiveJobQueues = 0;
-		// if there is at least 1 worker,
-		if (m_numWorkerThreads > 0)
-		{
-			// re-setup job stealing between queues to avoid attempting to steal from an inactive job queue
-			JobQueue* lastActiveContext = m_perThreadJobQueues[m_numThreads - 1];
-			int iLastActiveContext = lastActiveContext - &m_jobQueues[0];
-			m_numActiveJobQueues = iLastActiveContext + 1;
-			for (int i = 0; i < m_jobQueues.size(); ++i)
-			{
-				m_jobQueues[i].setupJobStealing(&m_jobQueues, m_numActiveJobQueues);
-			}
-		}
-		m_workerDirective->setDirectiveByRange(m_numThreads, BT_MAX_THREAD_COUNT, WorkerThreadDirectives::kGoToSleep);
-	}
-
-	void waitJobs()
-	{
-		BT_PROFILE("waitJobs");
-		// have the main thread work until the job queues are empty
-		int numMainThreadJobsFinished = 0;
-		for (int i = 0; i < m_numActiveJobQueues; ++i)
-		{
-			while (IJob* job = m_jobQueues[i].consumeJob())
-			{
-				job->executeJob(0);
-				numMainThreadJobsFinished++;
-			}
-		}
-
-		// done with jobs for now, tell workers to rest (but not sleep)
-		setWorkerDirectives(WorkerThreadDirectives::kStayAwakeButIdle);
-
-		btU64 clockStart = m_clock.getTimeMicroseconds();
-		// wait for workers to finish any jobs in progress
-		while (true)
-		{
-			int numWorkerJobsFinished = 0;
-			for (int iThread = kFirstWorkerThreadId; iThread < m_numThreads; ++iThread)
-			{
-				ThreadLocalStorage* storage = &m_threadLocalStorage[iThread];
-				storage->m_mutex.lock();
-				numWorkerJobsFinished += storage->m_numJobsFinished;
-				storage->m_mutex.unlock();
-			}
-			if (numWorkerJobsFinished + numMainThreadJobsFinished == m_numJobs)
-			{
-				break;
-			}
-			btU64 timeElapsed = m_clock.getTimeMicroseconds() - clockStart;
-			btAssert(timeElapsed < 1000);
-			if (timeElapsed > 100000)
-			{
-				break;
-			}
-			btSpinPause();
-		}
-	}
-
-	void wakeWorkers(int numWorkersToWake)
-	{
-		BT_PROFILE("wakeWorkers");
-		btAssert(m_workerDirective->getDirective(1) == WorkerThreadDirectives::kScanForJobs);
-		int numDesiredWorkers = btMin(numWorkersToWake, m_numWorkerThreads);
-		int numActiveWorkers = 0;
-		for (int iWorker = 0; iWorker < m_numWorkerThreads; ++iWorker)
-		{
-			// note this count of active workers is not necessarily totally reliable, because a worker thread could be
-			// just about to put itself to sleep. So we may on occasion fail to wake up all the workers. It should be rare.
-			ThreadLocalStorage& storage = m_threadLocalStorage[kFirstWorkerThreadId + iWorker];
-			if (storage.m_status != WorkerThreadStatus::kSleeping)
-			{
-				numActiveWorkers++;
-			}
-		}
-		for (int iWorker = 0; iWorker < m_numWorkerThreads && numActiveWorkers < numDesiredWorkers; ++iWorker)
-		{
-			ThreadLocalStorage& storage = m_threadLocalStorage[kFirstWorkerThreadId + iWorker];
-			if (storage.m_status == WorkerThreadStatus::kSleeping)
-			{
-				m_threadSupport->runTask(iWorker, &storage);
-				numActiveWorkers++;
-			}
-		}
-	}
-
-	void waitForWorkersToSleep()
-	{
-		BT_PROFILE("waitForWorkersToSleep");
-		setWorkerDirectives(WorkerThreadDirectives::kGoToSleep);
-		m_threadSupport->waitForAllTasks();
-		for (int i = kFirstWorkerThreadId; i < m_numThreads; i++)
-		{
-			ThreadLocalStorage& storage = m_threadLocalStorage[i];
-			btAssert(storage.m_status == WorkerThreadStatus::kSleeping);
-		}
-	}
-
-	virtual void sleepWorkerThreadsHint() BT_OVERRIDE
-	{
-		BT_PROFILE("sleepWorkerThreadsHint");
-		// hint the task scheduler that we may not be using these threads for a little while
-		setWorkerDirectives(WorkerThreadDirectives::kGoToSleep);
-	}
-
-	void prepareWorkerThreads()
-	{
-		for (int i = kFirstWorkerThreadId; i < m_numThreads; ++i)
-		{
-			ThreadLocalStorage& storage = m_threadLocalStorage[i];
-			storage.m_mutex.lock();
-			storage.m_numJobsFinished = 0;
-			storage.m_mutex.unlock();
-		}
-		setWorkerDirectives(WorkerThreadDirectives::kScanForJobs);
-	}
-
-	virtual void parallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody& body) BT_OVERRIDE
-	{
-		BT_PROFILE("parallelFor_ThreadSupport");
-		btAssert(iEnd >= iBegin);
-		btAssert(grainSize >= 1);
-		int iterationCount = iEnd - iBegin;
-		if (iterationCount > grainSize && m_numWorkerThreads > 0 && m_antiNestingLock.tryLock())
-		{
-			typedef ParallelForJob JobType;
-			int jobCount = (iterationCount + grainSize - 1) / grainSize;
-			m_numJobs = jobCount;
-			btAssert(jobCount >= 2);  // need more than one job for multithreading
-			int jobSize = sizeof(JobType);
-
-			for (int i = 0; i < m_numActiveJobQueues; ++i)
-			{
-				m_jobQueues[i].clearQueue(jobCount, jobSize);
-			}
-			// prepare worker threads for incoming work
-			prepareWorkerThreads();
-			// submit all of the jobs
-			int iJob = 0;
-			int iThread = kFirstWorkerThreadId;  // first worker thread
-			for (int i = iBegin; i < iEnd; i += grainSize)
-			{
-				btAssert(iJob < jobCount);
-				int iE = btMin(i + grainSize, iEnd);
-				JobQueue* jq = m_perThreadJobQueues[iThread];
-				btAssert(jq);
-				btAssert((jq - &m_jobQueues[0]) < m_numActiveJobQueues);
-				void* jobMem = jq->allocJobMem(jobSize);
-				JobType* job = new (jobMem) ParallelForJob(i, iE, body);  // placement new
-				jq->submitJob(job);
-				iJob++;
-				iThread++;
-				if (iThread >= m_numThreads)
-				{
-					iThread = kFirstWorkerThreadId;  // first worker thread
-				}
-			}
-			wakeWorkers(jobCount - 1);
-
-			// put the main thread to work on emptying the job queue and then wait for all workers to finish
-			waitJobs();
-			m_antiNestingLock.unlock();
-		}
-		else
-		{
-			BT_PROFILE("parallelFor_mainThread");
-			// just run on main thread
-			body.forLoop(iBegin, iEnd);
-		}
-	}
-	virtual btScalar parallelSum(int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body) BT_OVERRIDE
-	{
-		BT_PROFILE("parallelSum_ThreadSupport");
-		btAssert(iEnd >= iBegin);
-		btAssert(grainSize >= 1);
-		int iterationCount = iEnd - iBegin;
-		if (iterationCount > grainSize && m_numWorkerThreads > 0 && m_antiNestingLock.tryLock())
-		{
-			typedef ParallelSumJob JobType;
-			int jobCount = (iterationCount + grainSize - 1) / grainSize;
-			m_numJobs = jobCount;
-			btAssert(jobCount >= 2);  // need more than one job for multithreading
-			int jobSize = sizeof(JobType);
-			for (int i = 0; i < m_numActiveJobQueues; ++i)
-			{
-				m_jobQueues[i].clearQueue(jobCount, jobSize);
-			}
-
-			// initialize summation
-			for (int iThread = 0; iThread < m_numThreads; ++iThread)
-			{
-				m_threadLocalStorage[iThread].m_sumResult = btScalar(0);
-			}
-
-			// prepare worker threads for incoming work
-			prepareWorkerThreads();
-			// submit all of the jobs
-			int iJob = 0;
-			int iThread = kFirstWorkerThreadId;  // first worker thread
-			for (int i = iBegin; i < iEnd; i += grainSize)
-			{
-				btAssert(iJob < jobCount);
-				int iE = btMin(i + grainSize, iEnd);
-				JobQueue* jq = m_perThreadJobQueues[iThread];
-				btAssert(jq);
-				btAssert((jq - &m_jobQueues[0]) < m_numActiveJobQueues);
-				void* jobMem = jq->allocJobMem(jobSize);
-				JobType* job = new (jobMem) ParallelSumJob(i, iE, body, &m_threadLocalStorage[0]);  // placement new
-				jq->submitJob(job);
-				iJob++;
-				iThread++;
-				if (iThread >= m_numThreads)
-				{
-					iThread = kFirstWorkerThreadId;  // first worker thread
-				}
-			}
-			wakeWorkers(jobCount - 1);
-
-			// put the main thread to work on emptying the job queue and then wait for all workers to finish
-			waitJobs();
-
-			// add up all the thread sums
-			btScalar sum = btScalar(0);
-			for (int iThread = 0; iThread < m_numThreads; ++iThread)
-			{
-				sum += m_threadLocalStorage[iThread].m_sumResult;
-			}
-			m_antiNestingLock.unlock();
-			return sum;
-		}
-		else
-		{
-			BT_PROFILE("parallelSum_mainThread");
-			// just run on main thread
-			return body.sumLoop(iBegin, iEnd);
-		}
-	}
-};
-
-btITaskScheduler* btCreateDefaultTaskScheduler()
-{
-	btTaskSchedulerDefault* ts = new btTaskSchedulerDefault();
-	ts->init();
-	return ts;
-}
-
-#else  // #if BT_THREADSAFE
-
-btITaskScheduler* btCreateDefaultTaskScheduler()
-{
-	return NULL;
-}
-
-#endif  // #else // #if BT_THREADSAFE
diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportInterface.h b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportInterface.h
deleted file mode 100644
index 1fe49335a1..0000000000
--- a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportInterface.h
+++ /dev/null
@@ -1,64 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2018 Erwin Coumans  http://bulletphysics.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_THREAD_SUPPORT_INTERFACE_H
-#define BT_THREAD_SUPPORT_INTERFACE_H
-
-class btCriticalSection
-{
-public:
-	btCriticalSection() {}
-	virtual ~btCriticalSection() {}
-
-	virtual void lock() = 0;
-	virtual void unlock() = 0;
-};
-
-class btThreadSupportInterface
-{
-public:
-	virtual ~btThreadSupportInterface() {}
-
-	virtual int getNumWorkerThreads() const = 0;            // number of worker threads (total number of logical processors - 1)
-	virtual int getCacheFriendlyNumThreads() const = 0;     // the number of logical processors sharing a single L3 cache
-	virtual int getLogicalToPhysicalCoreRatio() const = 0;  // the number of logical processors per physical processor (usually 1 or 2)
-	virtual void runTask(int threadIndex, void* userData) = 0;
-	virtual void waitForAllTasks() = 0;
-
-	virtual btCriticalSection* createCriticalSection() = 0;
-	virtual void deleteCriticalSection(btCriticalSection* criticalSection) = 0;
-
-	typedef void (*ThreadFunc)(void* userPtr);
-
-	struct ConstructionInfo
-	{
-		ConstructionInfo(const char* uniqueName,
-						 ThreadFunc userThreadFunc,
-						 int threadStackSize = 65535)
-			: m_uniqueName(uniqueName),
-			  m_userThreadFunc(userThreadFunc),
-			  m_threadStackSize(threadStackSize)
-		{
-		}
-
-		const char* m_uniqueName;
-		ThreadFunc m_userThreadFunc;
-		int m_threadStackSize;
-	};
-
-	static btThreadSupportInterface* create(const ConstructionInfo& info);
-};
-
-#endif  //BT_THREAD_SUPPORT_INTERFACE_H
diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp
deleted file mode 100644
index a03f6dc570..0000000000
--- a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp
+++ /dev/null
@@ -1,353 +0,0 @@
-
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2018 Erwin Coumans  http://bulletphysics.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#if BT_THREADSAFE && !defined(_WIN32)
-
-#include "LinearMath/btScalar.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btThreads.h"
-#include "LinearMath/btMinMax.h"
-#include "btThreadSupportInterface.h"
-
-#include <stdio.h>
-#include <errno.h>
-#include <unistd.h>
-
-#ifndef _XOPEN_SOURCE
-#define _XOPEN_SOURCE 600  //for definition of pthread_barrier_t, see http://pages.cs.wisc.edu/~travitch/pthreads_primer.html
-#endif                     //_XOPEN_SOURCE
-#include <pthread.h>
-#include <semaphore.h>
-#include <unistd.h>  //for sysconf
-
-///
-/// getNumHardwareThreads()
-///
-///
-/// https://stackoverflow.com/questions/150355/programmatically-find-the-number-of-cores-on-a-machine
-///
-#if __cplusplus >= 201103L
-
-#include <thread>
-
-int btGetNumHardwareThreads()
-{
-	return btMax(1u, btMin(BT_MAX_THREAD_COUNT, std::thread::hardware_concurrency()));
-}
-
-#else
-
-int btGetNumHardwareThreads()
-{
-	return btMax(1, btMin<int>(BT_MAX_THREAD_COUNT, sysconf(_SC_NPROCESSORS_ONLN)));
-}
-
-#endif
-
-// btThreadSupportPosix helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
-class btThreadSupportPosix : public btThreadSupportInterface
-{
-public:
-	struct btThreadStatus
-	{
-		int m_taskId;
-		int m_commandId;
-		int m_status;
-
-		ThreadFunc m_userThreadFunc;
-		void* m_userPtr;  //for taskDesc etc
-
-		pthread_t thread;
-		//each tread will wait until this signal to start its work
-		sem_t* startSemaphore;
-		btCriticalSection* m_cs;
-		// this is a copy of m_mainSemaphore,
-		//each tread will signal once it is finished with its work
-		sem_t* m_mainSemaphore;
-		unsigned long threadUsed;
-	};
-
-private:
-	typedef unsigned long long UINT64;
-
-	btAlignedObjectArray<btThreadStatus> m_activeThreadStatus;
-	// m_mainSemaphoresemaphore will signal, if and how many threads are finished with their work
-	sem_t* m_mainSemaphore;
-	int m_numThreads;
-	UINT64 m_startedThreadsMask;
-	void startThreads(const ConstructionInfo& threadInfo);
-	void stopThreads();
-	int waitForResponse();
-	btCriticalSection* m_cs;
-public:
-	btThreadSupportPosix(const ConstructionInfo& threadConstructionInfo);
-	virtual ~btThreadSupportPosix();
-
-	virtual int getNumWorkerThreads() const BT_OVERRIDE { return m_numThreads; }
-	// TODO: return the number of logical processors sharing the first L3 cache
-	virtual int getCacheFriendlyNumThreads() const BT_OVERRIDE { return m_numThreads + 1; }
-	// TODO: detect if CPU has hyperthreading enabled
-	virtual int getLogicalToPhysicalCoreRatio() const BT_OVERRIDE { return 1; }
-
-	virtual void runTask(int threadIndex, void* userData) BT_OVERRIDE;
-	virtual void waitForAllTasks() BT_OVERRIDE;
-
-	virtual btCriticalSection* createCriticalSection() BT_OVERRIDE;
-	virtual void deleteCriticalSection(btCriticalSection* criticalSection) BT_OVERRIDE;
-};
-
-#define checkPThreadFunction(returnValue)                                                                 \
-	if (0 != returnValue)                                                                                 \
-	{                                                                                                     \
-		printf("PThread problem at line %i in file %s: %i %d\n", __LINE__, __FILE__, returnValue, errno); \
-	}
-
-// The number of threads should be equal to the number of available cores
-// Todo: each worker should be linked to a single core, using SetThreadIdealProcessor.
-
-btThreadSupportPosix::btThreadSupportPosix(const ConstructionInfo& threadConstructionInfo)
-{
-	m_cs = createCriticalSection();
-	startThreads(threadConstructionInfo);
-}
-
-// cleanup/shutdown Libspe2
-btThreadSupportPosix::~btThreadSupportPosix()
-{
-	stopThreads();
-	deleteCriticalSection(m_cs);
-	m_cs=0;
-}
-
-#if (defined(__APPLE__))
-#define NAMED_SEMAPHORES
-#endif
-
-static sem_t* createSem(const char* baseName)
-{
-	static int semCount = 0;
-#ifdef NAMED_SEMAPHORES
-	/// Named semaphore begin
-	char name[32];
-	snprintf(name, 32, "/%8.s-%4.d-%4.4d", baseName, getpid(), semCount++);
-	sem_t* tempSem = sem_open(name, O_CREAT, 0600, 0);
-
-	if (tempSem != reinterpret_cast<sem_t*>(SEM_FAILED))
-	{
-		//        printf("Created \"%s\" Semaphore %p\n", name, tempSem);
-	}
-	else
-	{
-		//printf("Error creating Semaphore %d\n", errno);
-		exit(-1);
-	}
-	/// Named semaphore end
-#else
-	sem_t* tempSem = new sem_t;
-	checkPThreadFunction(sem_init(tempSem, 0, 0));
-#endif
-	return tempSem;
-}
-
-static void destroySem(sem_t* semaphore)
-{
-#ifdef NAMED_SEMAPHORES
-	checkPThreadFunction(sem_close(semaphore));
-#else
-	checkPThreadFunction(sem_destroy(semaphore));
-	delete semaphore;
-#endif
-}
-
-static void* threadFunction(void* argument)
-{
-	btThreadSupportPosix::btThreadStatus* status = (btThreadSupportPosix::btThreadStatus*)argument;
-
-	while (1)
-	{
-		checkPThreadFunction(sem_wait(status->startSemaphore));
-		void* userPtr = status->m_userPtr;
-
-		if (userPtr)
-		{
-			btAssert(status->m_status);
-			status->m_userThreadFunc(userPtr);
-			status->m_cs->lock();
-			status->m_status = 2;
-			status->m_cs->unlock();
-			checkPThreadFunction(sem_post(status->m_mainSemaphore));
-			status->threadUsed++;
-		}
-		else
-		{
-			//exit Thread
-			status->m_cs->lock();
-			status->m_status = 3;
-			status->m_cs->unlock();
-			checkPThreadFunction(sem_post(status->m_mainSemaphore));
-			break;
-		}
-	}
-
-	return 0;
-}
-
-///send messages to SPUs
-void btThreadSupportPosix::runTask(int threadIndex, void* userData)
-{
-	///we should spawn an SPU task here, and in 'waitForResponse' it should wait for response of the (one of) the first tasks that finished
-	btThreadStatus& threadStatus = m_activeThreadStatus[threadIndex];
-	btAssert(threadIndex >= 0);
-	btAssert(threadIndex < m_activeThreadStatus.size());
-	threadStatus.m_cs = m_cs;
-	threadStatus.m_commandId = 1;
-	threadStatus.m_status = 1;
-	threadStatus.m_userPtr = userData;
-	m_startedThreadsMask |= UINT64(1) << threadIndex;
-
-	// fire event to start new task
-	checkPThreadFunction(sem_post(threadStatus.startSemaphore));
-}
-
-///check for messages from SPUs
-int btThreadSupportPosix::waitForResponse()
-{
-	///We should wait for (one of) the first tasks to finish (or other SPU messages), and report its response
-	///A possible response can be 'yes, SPU handled it', or 'no, please do a PPU fallback'
-
-	btAssert(m_activeThreadStatus.size());
-
-	// wait for any of the threads to finish
-	checkPThreadFunction(sem_wait(m_mainSemaphore));
-	// get at least one thread which has finished
-	size_t last = -1;
-
-	for (size_t t = 0; t < size_t(m_activeThreadStatus.size()); ++t)
-	{
-		m_cs->lock();
-		bool hasFinished = (2 == m_activeThreadStatus[t].m_status);
-		m_cs->unlock(); 
-		if (hasFinished)
-		{
-			last = t;
-			break;
-		}
-	}
-
-	btThreadStatus& threadStatus = m_activeThreadStatus[last];
-
-	btAssert(threadStatus.m_status > 1);
-	threadStatus.m_status = 0;
-
-	// need to find an active spu
-	btAssert(last >= 0);
-	m_startedThreadsMask &= ~(UINT64(1) << last);
-
-	return last;
-}
-
-void btThreadSupportPosix::waitForAllTasks()
-{
-	while (m_startedThreadsMask)
-	{
-		waitForResponse();
-	}
-}
-
-void btThreadSupportPosix::startThreads(const ConstructionInfo& threadConstructionInfo)
-{
-	m_numThreads = btGetNumHardwareThreads() - 1;  // main thread exists already
-	m_activeThreadStatus.resize(m_numThreads);
-	m_startedThreadsMask = 0;
-
-	m_mainSemaphore = createSem("main");
-	//checkPThreadFunction(sem_wait(mainSemaphore));
-
-	for (int i = 0; i < m_numThreads; i++)
-	{
-		btThreadStatus& threadStatus = m_activeThreadStatus[i];
-		threadStatus.startSemaphore = createSem("threadLocal");
-		threadStatus.m_userPtr = 0;
-		threadStatus.m_cs = m_cs;
-		threadStatus.m_taskId = i;
-		threadStatus.m_commandId = 0;
-		threadStatus.m_status = 0;
-		threadStatus.m_mainSemaphore = m_mainSemaphore;
-		threadStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc;
-		threadStatus.threadUsed = 0;
-		checkPThreadFunction(pthread_create(&threadStatus.thread, NULL, &threadFunction, (void*)&threadStatus));
-
-	}
-}
-
-///tell the task scheduler we are done with the SPU tasks
-void btThreadSupportPosix::stopThreads()
-{
-	for (size_t t = 0; t < size_t(m_activeThreadStatus.size()); ++t)
-	{
-		btThreadStatus& threadStatus = m_activeThreadStatus[t];
-
-		threadStatus.m_userPtr = 0;
-		checkPThreadFunction(sem_post(threadStatus.startSemaphore));
-		checkPThreadFunction(sem_wait(m_mainSemaphore));
-
-		checkPThreadFunction(pthread_join(threadStatus.thread, 0));
-		destroySem(threadStatus.startSemaphore);
-	}
-	destroySem(m_mainSemaphore);
-	m_activeThreadStatus.clear();
-}
-
-class btCriticalSectionPosix : public btCriticalSection
-{
-	pthread_mutex_t m_mutex;
-
-public:
-	btCriticalSectionPosix()
-	{
-		pthread_mutex_init(&m_mutex, NULL);
-	}
-	virtual ~btCriticalSectionPosix()
-	{
-		pthread_mutex_destroy(&m_mutex);
-	}
-
-	virtual void lock()
-	{
-		pthread_mutex_lock(&m_mutex);
-	}
-	virtual void unlock()
-	{
-		pthread_mutex_unlock(&m_mutex);
-	}
-};
-
-btCriticalSection* btThreadSupportPosix::createCriticalSection()
-{
-	return new btCriticalSectionPosix();
-}
-
-void btThreadSupportPosix::deleteCriticalSection(btCriticalSection* cs)
-{
-	delete cs;
-}
-
-btThreadSupportInterface* btThreadSupportInterface::create(const ConstructionInfo& info)
-{
-	return new btThreadSupportPosix(info);
-}
-
-#endif  // BT_THREADSAFE && !defined( _WIN32 )
diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportWin32.cpp b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportWin32.cpp
deleted file mode 100644
index 5862264a67..0000000000
--- a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportWin32.cpp
+++ /dev/null
@@ -1,458 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2018 Erwin Coumans  http://bulletphysics.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#if defined(_WIN32) && BT_THREADSAFE
-
-#include "LinearMath/btScalar.h"
-#include "LinearMath/btMinMax.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btThreads.h"
-#include "btThreadSupportInterface.h"
-#include <windows.h>
-#include <stdio.h>
-
-struct btProcessorInfo
-{
-	int numLogicalProcessors;
-	int numCores;
-	int numNumaNodes;
-	int numL1Cache;
-	int numL2Cache;
-	int numL3Cache;
-	int numPhysicalPackages;
-	static const int maxNumTeamMasks = 32;
-	int numTeamMasks;
-	UINT64 processorTeamMasks[maxNumTeamMasks];
-};
-
-UINT64 getProcessorTeamMask(const btProcessorInfo& procInfo, int procId)
-{
-	UINT64 procMask = UINT64(1) << procId;
-	for (int i = 0; i < procInfo.numTeamMasks; ++i)
-	{
-		if (procMask & procInfo.processorTeamMasks[i])
-		{
-			return procInfo.processorTeamMasks[i];
-		}
-	}
-	return 0;
-}
-
-int getProcessorTeamIndex(const btProcessorInfo& procInfo, int procId)
-{
-	UINT64 procMask = UINT64(1) << procId;
-	for (int i = 0; i < procInfo.numTeamMasks; ++i)
-	{
-		if (procMask & procInfo.processorTeamMasks[i])
-		{
-			return i;
-		}
-	}
-	return -1;
-}
-
-int countSetBits(ULONG64 bits)
-{
-	int count = 0;
-	while (bits)
-	{
-		if (bits & 1)
-		{
-			count++;
-		}
-		bits >>= 1;
-	}
-	return count;
-}
-
-typedef BOOL(WINAPI* Pfn_GetLogicalProcessorInformation)(PSYSTEM_LOGICAL_PROCESSOR_INFORMATION, PDWORD);
-
-void getProcessorInformation(btProcessorInfo* procInfo)
-{
-	memset(procInfo, 0, sizeof(*procInfo));
-#if WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_APP) && \
-    !WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_DESKTOP)
-	// Can't dlopen libraries on UWP.
-	return;
-#else
-	Pfn_GetLogicalProcessorInformation getLogicalProcInfo =
-		(Pfn_GetLogicalProcessorInformation)GetProcAddress(GetModuleHandle(TEXT("kernel32")), "GetLogicalProcessorInformation");
-	if (getLogicalProcInfo == NULL)
-	{
-		// no info
-		return;
-	}
-	PSYSTEM_LOGICAL_PROCESSOR_INFORMATION buf = NULL;
-	DWORD bufSize = 0;
-	while (true)
-	{
-		if (getLogicalProcInfo(buf, &bufSize))
-		{
-			break;
-		}
-		else
-		{
-			if (GetLastError() == ERROR_INSUFFICIENT_BUFFER)
-			{
-				if (buf)
-				{
-					free(buf);
-				}
-				buf = (PSYSTEM_LOGICAL_PROCESSOR_INFORMATION)malloc(bufSize);
-			}
-		}
-	}
-
-	int len = bufSize / sizeof(*buf);
-	for (int i = 0; i < len; ++i)
-	{
-		PSYSTEM_LOGICAL_PROCESSOR_INFORMATION info = buf + i;
-		switch (info->Relationship)
-		{
-			case RelationNumaNode:
-				procInfo->numNumaNodes++;
-				break;
-
-			case RelationProcessorCore:
-				procInfo->numCores++;
-				procInfo->numLogicalProcessors += countSetBits(info->ProcessorMask);
-				break;
-
-			case RelationCache:
-				if (info->Cache.Level == 1)
-				{
-					procInfo->numL1Cache++;
-				}
-				else if (info->Cache.Level == 2)
-				{
-					procInfo->numL2Cache++;
-				}
-				else if (info->Cache.Level == 3)
-				{
-					procInfo->numL3Cache++;
-					// processors that share L3 cache are considered to be on the same team
-					// because they can more easily work together on the same data.
-					// Large performance penalties will occur if 2 or more threads from different
-					// teams attempt to frequently read and modify the same cache lines.
-					//
-					// On the AMD Ryzen 7 CPU for example, the 8 cores on the CPU are split into
-					// 2 CCX units of 4 cores each. Each CCX has a separate L3 cache, so if both
-					// CCXs are operating on the same data, many cycles will be spent keeping the
-					// two caches coherent.
-					if (procInfo->numTeamMasks < btProcessorInfo::maxNumTeamMasks)
-					{
-						procInfo->processorTeamMasks[procInfo->numTeamMasks] = info->ProcessorMask;
-						procInfo->numTeamMasks++;
-					}
-				}
-				break;
-
-			case RelationProcessorPackage:
-				procInfo->numPhysicalPackages++;
-				break;
-		}
-	}
-	free(buf);
-#endif
-}
-
-///btThreadSupportWin32 helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
-class btThreadSupportWin32 : public btThreadSupportInterface
-{
-public:
-	struct btThreadStatus
-	{
-		int m_taskId;
-		int m_commandId;
-		int m_status;
-
-		ThreadFunc m_userThreadFunc;
-		void* m_userPtr;  //for taskDesc etc
-
-		void* m_threadHandle;  //this one is calling 'Win32ThreadFunc'
-
-		void* m_eventStartHandle;
-		char m_eventStartHandleName[32];
-
-		void* m_eventCompleteHandle;
-		char m_eventCompleteHandleName[32];
-	};
-
-private:
-	btAlignedObjectArray<btThreadStatus> m_activeThreadStatus;
-	btAlignedObjectArray<void*> m_completeHandles;
-	int m_numThreads;
-	DWORD_PTR m_startedThreadMask;
-	btProcessorInfo m_processorInfo;
-
-	void startThreads(const ConstructionInfo& threadInfo);
-	void stopThreads();
-	int waitForResponse();
-
-public:
-	btThreadSupportWin32(const ConstructionInfo& threadConstructionInfo);
-	virtual ~btThreadSupportWin32();
-
-	virtual int getNumWorkerThreads() const BT_OVERRIDE { return m_numThreads; }
-	virtual int getCacheFriendlyNumThreads() const BT_OVERRIDE { return countSetBits(m_processorInfo.processorTeamMasks[0]); }
-	virtual int getLogicalToPhysicalCoreRatio() const BT_OVERRIDE { return m_processorInfo.numLogicalProcessors / m_processorInfo.numCores; }
-
-	virtual void runTask(int threadIndex, void* userData) BT_OVERRIDE;
-	virtual void waitForAllTasks() BT_OVERRIDE;
-
-	virtual btCriticalSection* createCriticalSection() BT_OVERRIDE;
-	virtual void deleteCriticalSection(btCriticalSection* criticalSection) BT_OVERRIDE;
-};
-
-btThreadSupportWin32::btThreadSupportWin32(const ConstructionInfo& threadConstructionInfo)
-{
-	startThreads(threadConstructionInfo);
-}
-
-btThreadSupportWin32::~btThreadSupportWin32()
-{
-	stopThreads();
-}
-
-DWORD WINAPI win32threadStartFunc(LPVOID lpParam)
-{
-	btThreadSupportWin32::btThreadStatus* status = (btThreadSupportWin32::btThreadStatus*)lpParam;
-
-	while (1)
-	{
-		WaitForSingleObject(status->m_eventStartHandle, INFINITE);
-		void* userPtr = status->m_userPtr;
-
-		if (userPtr)
-		{
-			btAssert(status->m_status);
-			status->m_userThreadFunc(userPtr);
-			status->m_status = 2;
-			SetEvent(status->m_eventCompleteHandle);
-		}
-		else
-		{
-			//exit Thread
-			status->m_status = 3;
-			printf("Thread with taskId %i with handle %p exiting\n", status->m_taskId, status->m_threadHandle);
-			SetEvent(status->m_eventCompleteHandle);
-			break;
-		}
-	}
-	printf("Thread TERMINATED\n");
-	return 0;
-}
-
-void btThreadSupportWin32::runTask(int threadIndex, void* userData)
-{
-	btThreadStatus& threadStatus = m_activeThreadStatus[threadIndex];
-	btAssert(threadIndex >= 0);
-	btAssert(int(threadIndex) < m_activeThreadStatus.size());
-
-	threadStatus.m_commandId = 1;
-	threadStatus.m_status = 1;
-	threadStatus.m_userPtr = userData;
-	m_startedThreadMask |= DWORD_PTR(1) << threadIndex;
-
-	///fire event to start new task
-	SetEvent(threadStatus.m_eventStartHandle);
-}
-
-int btThreadSupportWin32::waitForResponse()
-{
-	btAssert(m_activeThreadStatus.size());
-
-	int last = -1;
-	DWORD res = WaitForMultipleObjects(m_completeHandles.size(), &m_completeHandles[0], FALSE, INFINITE);
-	btAssert(res != WAIT_FAILED);
-	last = res - WAIT_OBJECT_0;
-
-	btThreadStatus& threadStatus = m_activeThreadStatus[last];
-	btAssert(threadStatus.m_threadHandle);
-	btAssert(threadStatus.m_eventCompleteHandle);
-
-	//WaitForSingleObject(threadStatus.m_eventCompleteHandle, INFINITE);
-	btAssert(threadStatus.m_status > 1);
-	threadStatus.m_status = 0;
-
-	///need to find an active spu
-	btAssert(last >= 0);
-	m_startedThreadMask &= ~(DWORD_PTR(1) << last);
-
-	return last;
-}
-
-void btThreadSupportWin32::waitForAllTasks()
-{
-	while (m_startedThreadMask)
-	{
-		waitForResponse();
-	}
-}
-
-void btThreadSupportWin32::startThreads(const ConstructionInfo& threadConstructionInfo)
-{
-	static int uniqueId = 0;
-	uniqueId++;
-	btProcessorInfo& procInfo = m_processorInfo;
-	getProcessorInformation(&procInfo);
-	DWORD_PTR dwProcessAffinityMask = 0;
-	DWORD_PTR dwSystemAffinityMask = 0;
-	if (!GetProcessAffinityMask(GetCurrentProcess(), &dwProcessAffinityMask, &dwSystemAffinityMask))
-	{
-		dwProcessAffinityMask = 0;
-	}
-	///The number of threads should be equal to the number of available cores - 1
-	m_numThreads = btMin(procInfo.numLogicalProcessors, int(BT_MAX_THREAD_COUNT)) - 1;  // cap to max thread count (-1 because main thread already exists)
-
-	m_activeThreadStatus.resize(m_numThreads);
-	m_completeHandles.resize(m_numThreads);
-	m_startedThreadMask = 0;
-
-	// set main thread affinity
-	if (DWORD_PTR mask = dwProcessAffinityMask & getProcessorTeamMask(procInfo, 0))
-	{
-		SetThreadAffinityMask(GetCurrentThread(), mask);
-		SetThreadIdealProcessor(GetCurrentThread(), 0);
-	}
-
-	for (int i = 0; i < m_numThreads; i++)
-	{
-		printf("starting thread %d\n", i);
-
-		btThreadStatus& threadStatus = m_activeThreadStatus[i];
-
-		LPSECURITY_ATTRIBUTES lpThreadAttributes = NULL;
-		SIZE_T dwStackSize = threadConstructionInfo.m_threadStackSize;
-		LPTHREAD_START_ROUTINE lpStartAddress = &win32threadStartFunc;
-		LPVOID lpParameter = &threadStatus;
-		DWORD dwCreationFlags = 0;
-		LPDWORD lpThreadId = 0;
-
-		threadStatus.m_userPtr = 0;
-
-		sprintf(threadStatus.m_eventStartHandleName, "es%.8s%d%d", threadConstructionInfo.m_uniqueName, uniqueId, i);
-		threadStatus.m_eventStartHandle = CreateEventA(0, false, false, threadStatus.m_eventStartHandleName);
-
-		sprintf(threadStatus.m_eventCompleteHandleName, "ec%.8s%d%d", threadConstructionInfo.m_uniqueName, uniqueId, i);
-		threadStatus.m_eventCompleteHandle = CreateEventA(0, false, false, threadStatus.m_eventCompleteHandleName);
-
-		m_completeHandles[i] = threadStatus.m_eventCompleteHandle;
-
-		HANDLE handle = CreateThread(lpThreadAttributes, dwStackSize, lpStartAddress, lpParameter, dwCreationFlags, lpThreadId);
-		//SetThreadPriority( handle, THREAD_PRIORITY_HIGHEST );
-		// highest priority -- can cause erratic performance when numThreads > numCores
-		//                     we don't want worker threads to be higher priority than the main thread or the main thread could get
-		//                     totally shut out and unable to tell the workers to stop
-		//SetThreadPriority( handle, THREAD_PRIORITY_BELOW_NORMAL );
-
-		{
-			int processorId = i + 1;  // leave processor 0 for main thread
-			DWORD_PTR teamMask = getProcessorTeamMask(procInfo, processorId);
-			if (teamMask)
-			{
-				// bind each thread to only execute on processors of it's assigned team
-				//  - for single-socket Intel x86 CPUs this has no effect (only a single, shared L3 cache so there is only 1 team)
-				//  - for multi-socket Intel this will keep threads from migrating from one socket to another
-				//  - for AMD Ryzen this will keep threads from migrating from one CCX to another
-				DWORD_PTR mask = teamMask & dwProcessAffinityMask;
-				if (mask)
-				{
-					SetThreadAffinityMask(handle, mask);
-				}
-			}
-			SetThreadIdealProcessor(handle, processorId);
-		}
-
-		threadStatus.m_taskId = i;
-		threadStatus.m_commandId = 0;
-		threadStatus.m_status = 0;
-		threadStatus.m_threadHandle = handle;
-		threadStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc;
-
-		printf("started %s thread %d with threadHandle %p\n", threadConstructionInfo.m_uniqueName, i, handle);
-	}
-}
-
-///tell the task scheduler we are done with the SPU tasks
-void btThreadSupportWin32::stopThreads()
-{
-	for (int i = 0; i < m_activeThreadStatus.size(); i++)
-	{
-		btThreadStatus& threadStatus = m_activeThreadStatus[i];
-		if (threadStatus.m_status > 0)
-		{
-			WaitForSingleObject(threadStatus.m_eventCompleteHandle, INFINITE);
-		}
-
-		threadStatus.m_userPtr = NULL;
-		SetEvent(threadStatus.m_eventStartHandle);
-		WaitForSingleObject(threadStatus.m_eventCompleteHandle, INFINITE);
-
-		CloseHandle(threadStatus.m_eventCompleteHandle);
-		CloseHandle(threadStatus.m_eventStartHandle);
-		CloseHandle(threadStatus.m_threadHandle);
-	}
-
-	m_activeThreadStatus.clear();
-	m_completeHandles.clear();
-}
-
-class btWin32CriticalSection : public btCriticalSection
-{
-private:
-	CRITICAL_SECTION mCriticalSection;
-
-public:
-	btWin32CriticalSection()
-	{
-		InitializeCriticalSection(&mCriticalSection);
-	}
-
-	~btWin32CriticalSection()
-	{
-		DeleteCriticalSection(&mCriticalSection);
-	}
-
-	void lock()
-	{
-		EnterCriticalSection(&mCriticalSection);
-	}
-
-	void unlock()
-	{
-		LeaveCriticalSection(&mCriticalSection);
-	}
-};
-
-btCriticalSection* btThreadSupportWin32::createCriticalSection()
-{
-	unsigned char* mem = (unsigned char*)btAlignedAlloc(sizeof(btWin32CriticalSection), 16);
-	btWin32CriticalSection* cs = new (mem) btWin32CriticalSection();
-	return cs;
-}
-
-void btThreadSupportWin32::deleteCriticalSection(btCriticalSection* criticalSection)
-{
-	criticalSection->~btCriticalSection();
-	btAlignedFree(criticalSection);
-}
-
-btThreadSupportInterface* btThreadSupportInterface::create(const ConstructionInfo& info)
-{
-	return new btThreadSupportWin32(info);
-}
-
-#endif  //defined(_WIN32) && BT_THREADSAFE
diff --git a/thirdparty/bullet/LinearMath/btAabbUtil2.h b/thirdparty/bullet/LinearMath/btAabbUtil2.h
deleted file mode 100644
index eea49dd33f..0000000000
--- a/thirdparty/bullet/LinearMath/btAabbUtil2.h
+++ /dev/null
@@ -1,217 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_AABB_UTIL2
-#define BT_AABB_UTIL2
-
-#include "btTransform.h"
-#include "btVector3.h"
-#include "btMinMax.h"
-
-SIMD_FORCE_INLINE void AabbExpand(btVector3& aabbMin,
-								  btVector3& aabbMax,
-								  const btVector3& expansionMin,
-								  const btVector3& expansionMax)
-{
-	aabbMin = aabbMin + expansionMin;
-	aabbMax = aabbMax + expansionMax;
-}
-
-/// conservative test for overlap between two aabbs
-SIMD_FORCE_INLINE bool TestPointAgainstAabb2(const btVector3& aabbMin1, const btVector3& aabbMax1,
-											 const btVector3& point)
-{
-	bool overlap = true;
-	overlap = (aabbMin1.getX() > point.getX() || aabbMax1.getX() < point.getX()) ? false : overlap;
-	overlap = (aabbMin1.getZ() > point.getZ() || aabbMax1.getZ() < point.getZ()) ? false : overlap;
-	overlap = (aabbMin1.getY() > point.getY() || aabbMax1.getY() < point.getY()) ? false : overlap;
-	return overlap;
-}
-
-/// conservative test for overlap between two aabbs
-SIMD_FORCE_INLINE bool TestAabbAgainstAabb2(const btVector3& aabbMin1, const btVector3& aabbMax1,
-											const btVector3& aabbMin2, const btVector3& aabbMax2)
-{
-	bool overlap = true;
-	overlap = (aabbMin1.getX() > aabbMax2.getX() || aabbMax1.getX() < aabbMin2.getX()) ? false : overlap;
-	overlap = (aabbMin1.getZ() > aabbMax2.getZ() || aabbMax1.getZ() < aabbMin2.getZ()) ? false : overlap;
-	overlap = (aabbMin1.getY() > aabbMax2.getY() || aabbMax1.getY() < aabbMin2.getY()) ? false : overlap;
-	return overlap;
-}
-
-/// conservative test for overlap between triangle and aabb
-SIMD_FORCE_INLINE bool TestTriangleAgainstAabb2(const btVector3* vertices,
-												const btVector3& aabbMin, const btVector3& aabbMax)
-{
-	const btVector3& p1 = vertices[0];
-	const btVector3& p2 = vertices[1];
-	const btVector3& p3 = vertices[2];
-
-	if (btMin(btMin(p1[0], p2[0]), p3[0]) > aabbMax[0]) return false;
-	if (btMax(btMax(p1[0], p2[0]), p3[0]) < aabbMin[0]) return false;
-
-	if (btMin(btMin(p1[2], p2[2]), p3[2]) > aabbMax[2]) return false;
-	if (btMax(btMax(p1[2], p2[2]), p3[2]) < aabbMin[2]) return false;
-
-	if (btMin(btMin(p1[1], p2[1]), p3[1]) > aabbMax[1]) return false;
-	if (btMax(btMax(p1[1], p2[1]), p3[1]) < aabbMin[1]) return false;
-	return true;
-}
-
-SIMD_FORCE_INLINE int btOutcode(const btVector3& p, const btVector3& halfExtent)
-{
-	return (p.getX() < -halfExtent.getX() ? 0x01 : 0x0) |
-		   (p.getX() > halfExtent.getX() ? 0x08 : 0x0) |
-		   (p.getY() < -halfExtent.getY() ? 0x02 : 0x0) |
-		   (p.getY() > halfExtent.getY() ? 0x10 : 0x0) |
-		   (p.getZ() < -halfExtent.getZ() ? 0x4 : 0x0) |
-		   (p.getZ() > halfExtent.getZ() ? 0x20 : 0x0);
-}
-
-SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom,
-								  const btVector3& rayInvDirection,
-								  const unsigned int raySign[3],
-								  const btVector3 bounds[2],
-								  btScalar& tmin,
-								  btScalar lambda_min,
-								  btScalar lambda_max)
-{
-	btScalar tmax, tymin, tymax, tzmin, tzmax;
-	tmin = (bounds[raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX();
-	tmax = (bounds[1 - raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX();
-	tymin = (bounds[raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY();
-	tymax = (bounds[1 - raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY();
-
-	if ((tmin > tymax) || (tymin > tmax))
-		return false;
-
-	if (tymin > tmin)
-		tmin = tymin;
-
-	if (tymax < tmax)
-		tmax = tymax;
-
-	tzmin = (bounds[raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
-	tzmax = (bounds[1 - raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
-
-	if ((tmin > tzmax) || (tzmin > tmax))
-		return false;
-	if (tzmin > tmin)
-		tmin = tzmin;
-	if (tzmax < tmax)
-		tmax = tzmax;
-	return ((tmin < lambda_max) && (tmax > lambda_min));
-}
-
-SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom,
-								 const btVector3& rayTo,
-								 const btVector3& aabbMin,
-								 const btVector3& aabbMax,
-								 btScalar& param, btVector3& normal)
-{
-	btVector3 aabbHalfExtent = (aabbMax - aabbMin) * btScalar(0.5);
-	btVector3 aabbCenter = (aabbMax + aabbMin) * btScalar(0.5);
-	btVector3 source = rayFrom - aabbCenter;
-	btVector3 target = rayTo - aabbCenter;
-	int sourceOutcode = btOutcode(source, aabbHalfExtent);
-	int targetOutcode = btOutcode(target, aabbHalfExtent);
-	if ((sourceOutcode & targetOutcode) == 0x0)
-	{
-		btScalar lambda_enter = btScalar(0.0);
-		btScalar lambda_exit = param;
-		btVector3 r = target - source;
-		int i;
-		btScalar normSign = 1;
-		btVector3 hitNormal(0, 0, 0);
-		int bit = 1;
-
-		for (int j = 0; j < 2; j++)
-		{
-			for (i = 0; i != 3; ++i)
-			{
-				if (sourceOutcode & bit)
-				{
-					btScalar lambda = (-source[i] - aabbHalfExtent[i] * normSign) / r[i];
-					if (lambda_enter <= lambda)
-					{
-						lambda_enter = lambda;
-						hitNormal.setValue(0, 0, 0);
-						hitNormal[i] = normSign;
-					}
-				}
-				else if (targetOutcode & bit)
-				{
-					btScalar lambda = (-source[i] - aabbHalfExtent[i] * normSign) / r[i];
-					btSetMin(lambda_exit, lambda);
-				}
-				bit <<= 1;
-			}
-			normSign = btScalar(-1.);
-		}
-		if (lambda_enter <= lambda_exit)
-		{
-			param = lambda_enter;
-			normal = hitNormal;
-			return true;
-		}
-	}
-	return false;
-}
-
-SIMD_FORCE_INLINE void btTransformAabb(const btVector3& halfExtents, btScalar margin, const btTransform& t, btVector3& aabbMinOut, btVector3& aabbMaxOut)
-{
-	btVector3 halfExtentsWithMargin = halfExtents + btVector3(margin, margin, margin);
-	btMatrix3x3 abs_b = t.getBasis().absolute();
-	btVector3 center = t.getOrigin();
-	btVector3 extent = halfExtentsWithMargin.dot3(abs_b[0], abs_b[1], abs_b[2]);
-	aabbMinOut = center - extent;
-	aabbMaxOut = center + extent;
-}
-
-SIMD_FORCE_INLINE void btTransformAabb(const btVector3& localAabbMin, const btVector3& localAabbMax, btScalar margin, const btTransform& trans, btVector3& aabbMinOut, btVector3& aabbMaxOut)
-{
-	btAssert(localAabbMin.getX() <= localAabbMax.getX());
-	btAssert(localAabbMin.getY() <= localAabbMax.getY());
-	btAssert(localAabbMin.getZ() <= localAabbMax.getZ());
-	btVector3 localHalfExtents = btScalar(0.5) * (localAabbMax - localAabbMin);
-	localHalfExtents += btVector3(margin, margin, margin);
-
-	btVector3 localCenter = btScalar(0.5) * (localAabbMax + localAabbMin);
-	btMatrix3x3 abs_b = trans.getBasis().absolute();
-	btVector3 center = trans(localCenter);
-	btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
-	aabbMinOut = center - extent;
-	aabbMaxOut = center + extent;
-}
-
-#define USE_BANCHLESS 1
-#ifdef USE_BANCHLESS
-//This block replaces the block below and uses no branches, and replaces the 8 bit return with a 32 bit return for improved performance (~3x on XBox 360)
-SIMD_FORCE_INLINE unsigned testQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1, const unsigned short int* aabbMax1, const unsigned short int* aabbMin2, const unsigned short int* aabbMax2)
-{
-	return static_cast<unsigned int>(btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0]) & (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2]) & (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
-											  1, 0));
-}
-#else
-SIMD_FORCE_INLINE bool testQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1, const unsigned short int* aabbMax1, const unsigned short int* aabbMin2, const unsigned short int* aabbMax2)
-{
-	bool overlap = true;
-	overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
-	overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
-	overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
-	return overlap;
-}
-#endif  //USE_BANCHLESS
-
-#endif  //BT_AABB_UTIL2
diff --git a/thirdparty/bullet/LinearMath/btAlignedAllocator.cpp b/thirdparty/bullet/LinearMath/btAlignedAllocator.cpp
deleted file mode 100644
index be8f8aa6d0..0000000000
--- a/thirdparty/bullet/LinearMath/btAlignedAllocator.cpp
+++ /dev/null
@@ -1,263 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btAlignedAllocator.h"
-
-#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
-int gNumAlignedAllocs = 0;
-int gNumAlignedFree = 0;
-int gTotalBytesAlignedAllocs = 0;  //detect memory leaks
-#endif                             //BT_DEBUG_MEMORY_ALLOCATIONST_DEBUG_ALLOCATIONS
-
-static void *btAllocDefault(size_t size)
-{
-	return malloc(size);
-}
-
-static void btFreeDefault(void *ptr)
-{
-	free(ptr);
-}
-
-static btAllocFunc *sAllocFunc = btAllocDefault;
-static btFreeFunc *sFreeFunc = btFreeDefault;
-
-#if defined(BT_HAS_ALIGNED_ALLOCATOR)
-#include <malloc.h>
-static void *btAlignedAllocDefault(size_t size, int alignment)
-{
-	return _aligned_malloc(size, (size_t)alignment);
-}
-
-static void btAlignedFreeDefault(void *ptr)
-{
-	_aligned_free(ptr);
-}
-#elif defined(__CELLOS_LV2__)
-#include <stdlib.h>
-
-static inline void *btAlignedAllocDefault(size_t size, int alignment)
-{
-	return memalign(alignment, size);
-}
-
-static inline void btAlignedFreeDefault(void *ptr)
-{
-	free(ptr);
-}
-#else
-
-static inline void *btAlignedAllocDefault(size_t size, int alignment)
-{
-	void *ret;
-	char *real;
-	real = (char *)sAllocFunc(size + sizeof(void *) + (alignment - 1));
-	if (real)
-	{
-		ret = btAlignPointer(real + sizeof(void *), alignment);
-		*((void **)(ret)-1) = (void *)(real);
-	}
-	else
-	{
-		ret = (void *)(real);
-	}
-	return (ret);
-}
-
-static inline void btAlignedFreeDefault(void *ptr)
-{
-	void *real;
-
-	if (ptr)
-	{
-		real = *((void **)(ptr)-1);
-		sFreeFunc(real);
-	}
-}
-#endif
-
-static btAlignedAllocFunc *sAlignedAllocFunc = btAlignedAllocDefault;
-static btAlignedFreeFunc *sAlignedFreeFunc = btAlignedFreeDefault;
-
-void btAlignedAllocSetCustomAligned(btAlignedAllocFunc *allocFunc, btAlignedFreeFunc *freeFunc)
-{
-	sAlignedAllocFunc = allocFunc ? allocFunc : btAlignedAllocDefault;
-	sAlignedFreeFunc = freeFunc ? freeFunc : btAlignedFreeDefault;
-}
-
-void btAlignedAllocSetCustom(btAllocFunc *allocFunc, btFreeFunc *freeFunc)
-{
-	sAllocFunc = allocFunc ? allocFunc : btAllocDefault;
-	sFreeFunc = freeFunc ? freeFunc : btFreeDefault;
-}
-
-#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
-
-static int allocations_id[10241024];
-static int allocations_bytes[10241024];
-static int mynumallocs = 0;
-#include <stdio.h>
-
-int btDumpMemoryLeaks()
-{
-	int totalLeak = 0;
-
-	for (int i = 0; i < mynumallocs; i++)
-	{
-		printf("Error: leaked memory of allocation #%d (%d bytes)\n", allocations_id[i], allocations_bytes[i]);
-		totalLeak += allocations_bytes[i];
-	}
-	if (totalLeak)
-	{
-		printf("Error: memory leaks: %d allocations were not freed and leaked together %d bytes\n", mynumallocs, totalLeak);
-	}
-	return totalLeak;
-}
-//this generic allocator provides the total allocated number of bytes
-#include <stdio.h>
-
-struct btDebugPtrMagic
-{
-	union {
-		void **vptrptr;
-		void *vptr;
-		int *iptr;
-		char *cptr;
-	};
-};
-
-void *btAlignedAllocInternal(size_t size, int alignment, int line, const char *filename)
-{
-	if (size == 0)
-	{
-		printf("Whaat? size==0");
-		return 0;
-	}
-	static int allocId = 0;
-
-	void *ret;
-	char *real;
-
-	// to find some particular memory leak, you could do something like this:
-	//	if (allocId==172)
-	//	{
-	//		printf("catch me!\n");
-	//	}
-	//	if (size>1024*1024)
-	//	{
-	//		printf("big alloc!%d\n", size);
-	//	}
-
-	gTotalBytesAlignedAllocs += size;
-	gNumAlignedAllocs++;
-
-	int sz4prt = 4 * sizeof(void *);
-
-	real = (char *)sAllocFunc(size + sz4prt + (alignment - 1));
-	if (real)
-	{
-		ret = (void *)btAlignPointer(real + sz4prt, alignment);
-		btDebugPtrMagic p;
-		p.vptr = ret;
-		p.cptr -= sizeof(void *);
-		*p.vptrptr = (void *)real;
-		p.cptr -= sizeof(void *);
-		*p.iptr = size;
-		p.cptr -= sizeof(void *);
-		*p.iptr = allocId;
-
-		allocations_id[mynumallocs] = allocId;
-		allocations_bytes[mynumallocs] = size;
-		mynumallocs++;
-	}
-	else
-	{
-		ret = (void *)(real);  //??
-	}
-
-	printf("allocation %d at address %x, from %s,line %d, size %d (total allocated = %d)\n", allocId, real, filename, line, size, gTotalBytesAlignedAllocs);
-	allocId++;
-
-	int *ptr = (int *)ret;
-	*ptr = 12;
-	return (ret);
-}
-
-void btAlignedFreeInternal(void *ptr, int line, const char *filename)
-{
-	void *real;
-
-	if (ptr)
-	{
-		gNumAlignedFree++;
-
-		btDebugPtrMagic p;
-		p.vptr = ptr;
-		p.cptr -= sizeof(void *);
-		real = *p.vptrptr;
-		p.cptr -= sizeof(void *);
-		int size = *p.iptr;
-		p.cptr -= sizeof(void *);
-		int allocId = *p.iptr;
-
-		bool found = false;
-
-		for (int i = 0; i < mynumallocs; i++)
-		{
-			if (allocations_id[i] == allocId)
-			{
-				allocations_id[i] = allocations_id[mynumallocs - 1];
-				allocations_bytes[i] = allocations_bytes[mynumallocs - 1];
-				mynumallocs--;
-				found = true;
-				break;
-			}
-		}
-
-		gTotalBytesAlignedAllocs -= size;
-
-		int diff = gNumAlignedAllocs - gNumAlignedFree;
-		printf("free %d at address %x, from %s,line %d, size %d (total remain = %d in %d non-freed allocations)\n", allocId, real, filename, line, size, gTotalBytesAlignedAllocs, diff);
-
-		sFreeFunc(real);
-	}
-	else
-	{
-		//printf("deleting a NULL ptr, no effect\n");
-	}
-}
-
-#else  //BT_DEBUG_MEMORY_ALLOCATIONS
-
-void *btAlignedAllocInternal(size_t size, int alignment)
-{
-	void *ptr;
-	ptr = sAlignedAllocFunc(size, alignment);
-	//	printf("btAlignedAllocInternal %d, %x\n",size,ptr);
-	return ptr;
-}
-
-void btAlignedFreeInternal(void *ptr)
-{
-	if (!ptr)
-	{
-		return;
-	}
-
-	//	printf("btAlignedFreeInternal %x\n",ptr);
-	sAlignedFreeFunc(ptr);
-}
-
-#endif  //BT_DEBUG_MEMORY_ALLOCATIONS
diff --git a/thirdparty/bullet/LinearMath/btAlignedAllocator.h b/thirdparty/bullet/LinearMath/btAlignedAllocator.h
deleted file mode 100644
index 971f62bfb0..0000000000
--- a/thirdparty/bullet/LinearMath/btAlignedAllocator.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_ALIGNED_ALLOCATOR
-#define BT_ALIGNED_ALLOCATOR
-
-///we probably replace this with our own aligned memory allocator
-///so we replace _aligned_malloc and _aligned_free with our own
-///that is better portable and more predictable
-
-#include "btScalar.h"
-
-///BT_DEBUG_MEMORY_ALLOCATIONS preprocessor can be set in build system
-///for regression tests to detect memory leaks
-///#define BT_DEBUG_MEMORY_ALLOCATIONS 1
-#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
-
-int btDumpMemoryLeaks();
-
-#define btAlignedAlloc(a, b) \
-	btAlignedAllocInternal(a, b, __LINE__, __FILE__)
-
-#define btAlignedFree(ptr) \
-	btAlignedFreeInternal(ptr, __LINE__, __FILE__)
-
-void* btAlignedAllocInternal(size_t size, int alignment, int line, const char* filename);
-
-void btAlignedFreeInternal(void* ptr, int line, const char* filename);
-
-#else
-void* btAlignedAllocInternal(size_t size, int alignment);
-void btAlignedFreeInternal(void* ptr);
-
-#define btAlignedAlloc(size, alignment) btAlignedAllocInternal(size, alignment)
-#define btAlignedFree(ptr) btAlignedFreeInternal(ptr)
-
-#endif
-typedef int size_type;
-
-typedef void*(btAlignedAllocFunc)(size_t size, int alignment);
-typedef void(btAlignedFreeFunc)(void* memblock);
-typedef void*(btAllocFunc)(size_t size);
-typedef void(btFreeFunc)(void* memblock);
-
-///The developer can let all Bullet memory allocations go through a custom memory allocator, using btAlignedAllocSetCustom
-void btAlignedAllocSetCustom(btAllocFunc* allocFunc, btFreeFunc* freeFunc);
-///If the developer has already an custom aligned allocator, then btAlignedAllocSetCustomAligned can be used. The default aligned allocator pre-allocates extra memory using the non-aligned allocator, and instruments it.
-void btAlignedAllocSetCustomAligned(btAlignedAllocFunc* allocFunc, btAlignedFreeFunc* freeFunc);
-
-///The btAlignedAllocator is a portable class for aligned memory allocations.
-///Default implementations for unaligned and aligned allocations can be overridden by a custom allocator using btAlignedAllocSetCustom and btAlignedAllocSetCustomAligned.
-template <typename T, unsigned Alignment>
-class btAlignedAllocator
-{
-	typedef btAlignedAllocator<T, Alignment> self_type;
-
-public:
-	//just going down a list:
-	btAlignedAllocator() {}
-	/*
-	btAlignedAllocator( const self_type & ) {}
-	*/
-
-	template <typename Other>
-	btAlignedAllocator(const btAlignedAllocator<Other, Alignment>&)
-	{
-	}
-
-	typedef const T* const_pointer;
-	typedef const T& const_reference;
-	typedef T* pointer;
-	typedef T& reference;
-	typedef T value_type;
-
-	pointer address(reference ref) const { return &ref; }
-	const_pointer address(const_reference ref) const { return &ref; }
-	pointer allocate(size_type n, const_pointer* hint = 0)
-	{
-		(void)hint;
-		return reinterpret_cast<pointer>(btAlignedAlloc(sizeof(value_type) * n, Alignment));
-	}
-	void construct(pointer ptr, const value_type& value) { new (ptr) value_type(value); }
-	void deallocate(pointer ptr)
-	{
-		btAlignedFree(reinterpret_cast<void*>(ptr));
-	}
-	void destroy(pointer ptr) { ptr->~value_type(); }
-
-	template <typename O>
-	struct rebind
-	{
-		typedef btAlignedAllocator<O, Alignment> other;
-	};
-	template <typename O>
-	self_type& operator=(const btAlignedAllocator<O, Alignment>&)
-	{
-		return *this;
-	}
-
-	friend bool operator==(const self_type&, const self_type&) { return true; }
-};
-
-#endif  //BT_ALIGNED_ALLOCATOR
diff --git a/thirdparty/bullet/LinearMath/btAlignedObjectArray.h b/thirdparty/bullet/LinearMath/btAlignedObjectArray.h
deleted file mode 100644
index b3d5d64b58..0000000000
--- a/thirdparty/bullet/LinearMath/btAlignedObjectArray.h
+++ /dev/null
@@ -1,504 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_OBJECT_ARRAY__
-#define BT_OBJECT_ARRAY__
-
-#include "btScalar.h"  // has definitions like SIMD_FORCE_INLINE
-#include "btAlignedAllocator.h"
-
-///If the platform doesn't support placement new, you can disable BT_USE_PLACEMENT_NEW
-///then the btAlignedObjectArray doesn't support objects with virtual methods, and non-trivial constructors/destructors
-///You can enable BT_USE_MEMCPY, then swapping elements in the array will use memcpy instead of operator=
-///see discussion here: http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1231 and
-///http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1240
-
-#define BT_USE_PLACEMENT_NEW 1
-//#define BT_USE_MEMCPY 1 //disable, because it is cumbersome to find out for each platform where memcpy is defined. It can be in <memory.h> or <string.h> or otherwise...
-#define BT_ALLOW_ARRAY_COPY_OPERATOR  // enabling this can accidently perform deep copies of data if you are not careful
-
-#ifdef BT_USE_MEMCPY
-#include <memory.h>
-#include <string.h>
-#endif  //BT_USE_MEMCPY
-
-#ifdef BT_USE_PLACEMENT_NEW
-#include <new>  //for placement new
-#endif          //BT_USE_PLACEMENT_NEW
-
-///The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods
-///It is developed to replace stl::vector to avoid portability issues, including STL alignment issues to add SIMD/SSE data
-template <typename T>
-//template <class T>
-class btAlignedObjectArray
-{
-	btAlignedAllocator<T, 16> m_allocator;
-
-	int m_size;
-	int m_capacity;
-	T* m_data;
-	//PCK: added this line
-	bool m_ownsMemory;
-
-#ifdef BT_ALLOW_ARRAY_COPY_OPERATOR
-public:
-	SIMD_FORCE_INLINE btAlignedObjectArray<T>& operator=(const btAlignedObjectArray<T>& other)
-	{
-		copyFromArray(other);
-		return *this;
-	}
-#else   //BT_ALLOW_ARRAY_COPY_OPERATOR
-private:
-	SIMD_FORCE_INLINE btAlignedObjectArray<T>& operator=(const btAlignedObjectArray<T>& other);
-#endif  //BT_ALLOW_ARRAY_COPY_OPERATOR
-
-protected:
-	SIMD_FORCE_INLINE int allocSize(int size)
-	{
-		return (size ? size * 2 : 1);
-	}
-	SIMD_FORCE_INLINE void copy(int start, int end, T* dest) const
-	{
-		int i;
-		for (i = start; i < end; ++i)
-#ifdef BT_USE_PLACEMENT_NEW
-			new (&dest[i]) T(m_data[i]);
-#else
-			dest[i] = m_data[i];
-#endif  //BT_USE_PLACEMENT_NEW
-	}
-
-	SIMD_FORCE_INLINE void init()
-	{
-		//PCK: added this line
-		m_ownsMemory = true;
-		m_data = 0;
-		m_size = 0;
-		m_capacity = 0;
-	}
-	SIMD_FORCE_INLINE void destroy(int first, int last)
-	{
-		int i;
-		for (i = first; i < last; i++)
-		{
-			m_data[i].~T();
-		}
-	}
-
-	SIMD_FORCE_INLINE void* allocate(int size)
-	{
-		if (size)
-			return m_allocator.allocate(size);
-		return 0;
-	}
-
-	SIMD_FORCE_INLINE void deallocate()
-	{
-		if (m_data)
-		{
-			//PCK: enclosed the deallocation in this block
-			if (m_ownsMemory)
-			{
-				m_allocator.deallocate(m_data);
-			}
-			m_data = 0;
-		}
-	}
-
-public:
-	btAlignedObjectArray()
-	{
-		init();
-	}
-
-	~btAlignedObjectArray()
-	{
-		clear();
-	}
-
-	///Generally it is best to avoid using the copy constructor of an btAlignedObjectArray, and use a (const) reference to the array instead.
-	btAlignedObjectArray(const btAlignedObjectArray& otherArray)
-	{
-		init();
-
-		int otherSize = otherArray.size();
-		resize(otherSize);
-		otherArray.copy(0, otherSize, m_data);
-	}
-
-	/// return the number of elements in the array
-	SIMD_FORCE_INLINE int size() const
-	{
-		return m_size;
-	}
-
-	SIMD_FORCE_INLINE const T& at(int n) const
-	{
-		btAssert(n >= 0);
-		btAssert(n < size());
-		return m_data[n];
-	}
-
-	SIMD_FORCE_INLINE T& at(int n)
-	{
-		btAssert(n >= 0);
-		btAssert(n < size());
-		return m_data[n];
-	}
-
-	SIMD_FORCE_INLINE const T& operator[](int n) const
-	{
-		btAssert(n >= 0);
-		btAssert(n < size());
-		return m_data[n];
-	}
-
-	SIMD_FORCE_INLINE T& operator[](int n)
-	{
-		btAssert(n >= 0);
-		btAssert(n < size());
-		return m_data[n];
-	}
-
-	///clear the array, deallocated memory. Generally it is better to use array.resize(0), to reduce performance overhead of run-time memory (de)allocations.
-	SIMD_FORCE_INLINE void clear()
-	{
-		destroy(0, size());
-
-		deallocate();
-
-		init();
-	}
-
-	SIMD_FORCE_INLINE void pop_back()
-	{
-		btAssert(m_size > 0);
-		m_size--;
-		m_data[m_size].~T();
-	}
-
-	///resize changes the number of elements in the array. If the new size is larger, the new elements will be constructed using the optional second argument.
-	///when the new number of elements is smaller, the destructor will be called, but memory will not be freed, to reduce performance overhead of run-time memory (de)allocations.
-	SIMD_FORCE_INLINE void resizeNoInitialize(int newsize)
-	{
-		if (newsize > size())
-		{
-			reserve(newsize);
-		}
-		m_size = newsize;
-	}
-
-	SIMD_FORCE_INLINE void resize(int newsize, const T& fillData = T())
-	{
-		const int curSize = size();
-
-		if (newsize < curSize)
-		{
-			for (int i = newsize; i < curSize; i++)
-			{
-				m_data[i].~T();
-			}
-		}
-		else
-		{
-			if (newsize > curSize)
-			{
-				reserve(newsize);
-			}
-#ifdef BT_USE_PLACEMENT_NEW
-			for (int i = curSize; i < newsize; i++)
-			{
-				new (&m_data[i]) T(fillData);
-			}
-#endif  //BT_USE_PLACEMENT_NEW
-		}
-
-		m_size = newsize;
-	}
-	SIMD_FORCE_INLINE T& expandNonInitializing()
-	{
-		const int sz = size();
-		if (sz == capacity())
-		{
-			reserve(allocSize(size()));
-		}
-		m_size++;
-
-		return m_data[sz];
-	}
-
-	SIMD_FORCE_INLINE T& expand(const T& fillValue = T())
-	{
-		const int sz = size();
-		if (sz == capacity())
-		{
-			reserve(allocSize(size()));
-		}
-		m_size++;
-#ifdef BT_USE_PLACEMENT_NEW
-		new (&m_data[sz]) T(fillValue);  //use the in-place new (not really allocating heap memory)
-#endif
-
-		return m_data[sz];
-	}
-
-	SIMD_FORCE_INLINE void push_back(const T& _Val)
-	{
-		const int sz = size();
-		if (sz == capacity())
-		{
-			reserve(allocSize(size()));
-		}
-
-#ifdef BT_USE_PLACEMENT_NEW
-		new (&m_data[m_size]) T(_Val);
-#else
-		m_data[size()] = _Val;
-#endif  //BT_USE_PLACEMENT_NEW
-
-		m_size++;
-	}
-
-	/// return the pre-allocated (reserved) elements, this is at least as large as the total number of elements,see size() and reserve()
-	SIMD_FORCE_INLINE int capacity() const
-	{
-		return m_capacity;
-	}
-
-	SIMD_FORCE_INLINE void reserve(int _Count)
-	{  // determine new minimum length of allocated storage
-		if (capacity() < _Count)
-		{  // not enough room, reallocate
-			T* s = (T*)allocate(_Count);
-
-			copy(0, size(), s);
-
-			destroy(0, size());
-
-			deallocate();
-
-			//PCK: added this line
-			m_ownsMemory = true;
-
-			m_data = s;
-
-			m_capacity = _Count;
-		}
-	}
-
-	class less
-	{
-	public:
-		bool operator()(const T& a, const T& b) const
-		{
-			return (a < b);
-		}
-	};
-
-	template <typename L>
-	void quickSortInternal(const L& CompareFunc, int lo, int hi)
-	{
-		//  lo is the lower index, hi is the upper index
-		//  of the region of array a that is to be sorted
-		int i = lo, j = hi;
-		T x = m_data[(lo + hi) / 2];
-
-		//  partition
-		do
-		{
-			while (CompareFunc(m_data[i], x))
-				i++;
-			while (CompareFunc(x, m_data[j]))
-				j--;
-			if (i <= j)
-			{
-				swap(i, j);
-				i++;
-				j--;
-			}
-		} while (i <= j);
-
-		//  recursion
-		if (lo < j)
-			quickSortInternal(CompareFunc, lo, j);
-		if (i < hi)
-			quickSortInternal(CompareFunc, i, hi);
-	}
-
-	template <typename L>
-	void quickSort(const L& CompareFunc)
-	{
-		//don't sort 0 or 1 elements
-		if (size() > 1)
-		{
-			quickSortInternal(CompareFunc, 0, size() - 1);
-		}
-	}
-
-	///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/
-	template <typename L>
-	void downHeap(T* pArr, int k, int n, const L& CompareFunc)
-	{
-		/*  PRE: a[k+1..N] is a heap */
-		/* POST:  a[k..N]  is a heap */
-
-		T temp = pArr[k - 1];
-		/* k has child(s) */
-		while (k <= n / 2)
-		{
-			int child = 2 * k;
-
-			if ((child < n) && CompareFunc(pArr[child - 1], pArr[child]))
-			{
-				child++;
-			}
-			/* pick larger child */
-			if (CompareFunc(temp, pArr[child - 1]))
-			{
-				/* move child up */
-				pArr[k - 1] = pArr[child - 1];
-				k = child;
-			}
-			else
-			{
-				break;
-			}
-		}
-		pArr[k - 1] = temp;
-	} /*downHeap*/
-
-	void swap(int index0, int index1)
-	{
-#ifdef BT_USE_MEMCPY
-		char temp[sizeof(T)];
-		memcpy(temp, &m_data[index0], sizeof(T));
-		memcpy(&m_data[index0], &m_data[index1], sizeof(T));
-		memcpy(&m_data[index1], temp, sizeof(T));
-#else
-		T temp = m_data[index0];
-		m_data[index0] = m_data[index1];
-		m_data[index1] = temp;
-#endif  //BT_USE_PLACEMENT_NEW
-	}
-
-	template <typename L>
-	void heapSort(const L& CompareFunc)
-	{
-		/* sort a[0..N-1],  N.B. 0 to N-1 */
-		int k;
-		int n = m_size;
-		for (k = n / 2; k > 0; k--)
-		{
-			downHeap(m_data, k, n, CompareFunc);
-		}
-
-		/* a[1..N] is now a heap */
-		while (n >= 1)
-		{
-			swap(0, n - 1); /* largest of a[0..n-1] */
-
-			n = n - 1;
-			/* restore a[1..i-1] heap */
-			downHeap(m_data, 1, n, CompareFunc);
-		}
-	}
-
-	///non-recursive binary search, assumes sorted array
-	int findBinarySearch(const T& key) const
-	{
-		int first = 0;
-		int last = size() - 1;
-
-		//assume sorted array
-		while (first <= last)
-		{
-			int mid = (first + last) / 2;  // compute mid point.
-			if (key > m_data[mid])
-				first = mid + 1;  // repeat search in top half.
-			else if (key < m_data[mid])
-				last = mid - 1;  // repeat search in bottom half.
-			else
-				return mid;  // found it. return position /////
-		}
-		return size();  // failed to find key
-	}
-
-	int findLinearSearch(const T& key) const
-	{
-		int index = size();
-		int i;
-
-		for (i = 0; i < size(); i++)
-		{
-			if (m_data[i] == key)
-			{
-				index = i;
-				break;
-			}
-		}
-		return index;
-	}
-
-	// If the key is not in the array, return -1 instead of 0,
-	// since 0 also means the first element in the array.
-	int findLinearSearch2(const T& key) const
-	{
-		int index = -1;
-		int i;
-
-		for (i = 0; i < size(); i++)
-		{
-			if (m_data[i] == key)
-			{
-				index = i;
-				break;
-			}
-		}
-		return index;
-	}
-
-	void removeAtIndex(int index)
-	{
-		if (index < size())
-		{
-			swap(index, size() - 1);
-			pop_back();
-		}
-	}
-	void remove(const T& key)
-	{
-		int findIndex = findLinearSearch(key);
-		removeAtIndex(findIndex);
-	}
-
-	//PCK: whole function
-	void initializeFromBuffer(void* buffer, int size, int capacity)
-	{
-		clear();
-		m_ownsMemory = false;
-		m_data = (T*)buffer;
-		m_size = size;
-		m_capacity = capacity;
-	}
-
-	void copyFromArray(const btAlignedObjectArray& otherArray)
-	{
-		int otherSize = otherArray.size();
-		resize(otherSize);
-		otherArray.copy(0, otherSize, m_data);
-	}
-};
-
-#endif  //BT_OBJECT_ARRAY__
diff --git a/thirdparty/bullet/LinearMath/btConvexHull.cpp b/thirdparty/bullet/LinearMath/btConvexHull.cpp
deleted file mode 100644
index e7de2a3694..0000000000
--- a/thirdparty/bullet/LinearMath/btConvexHull.cpp
+++ /dev/null
@@ -1,1120 +0,0 @@
-/*
-Stan Melax Convex Hull Computation
-Copyright (c) 2003-2006 Stan Melax http://www.melax.com/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include <string.h>
-
-#include "btConvexHull.h"
-#include "btAlignedObjectArray.h"
-#include "btMinMax.h"
-#include "btVector3.h"
-
-//----------------------------------
-
-class int3
-{
-public:
-	int x, y, z;
-	int3(){};
-	int3(int _x, int _y, int _z)
-	{
-		x = _x;
-		y = _y;
-		z = _z;
-	}
-	const int &operator[](int i) const { return (&x)[i]; }
-	int &operator[](int i) { return (&x)[i]; }
-};
-
-//------- btPlane ----------
-
-inline btPlane PlaneFlip(const btPlane &plane) { return btPlane(-plane.normal, -plane.dist); }
-inline int operator==(const btPlane &a, const btPlane &b) { return (a.normal == b.normal && a.dist == b.dist); }
-inline int coplanar(const btPlane &a, const btPlane &b) { return (a == b || a == PlaneFlip(b)); }
-
-//--------- Utility Functions ------
-
-btVector3 PlaneLineIntersection(const btPlane &plane, const btVector3 &p0, const btVector3 &p1);
-btVector3 PlaneProject(const btPlane &plane, const btVector3 &point);
-
-btVector3 ThreePlaneIntersection(const btPlane &p0, const btPlane &p1, const btPlane &p2);
-btVector3 ThreePlaneIntersection(const btPlane &p0, const btPlane &p1, const btPlane &p2)
-{
-	btVector3 N1 = p0.normal;
-	btVector3 N2 = p1.normal;
-	btVector3 N3 = p2.normal;
-
-	btVector3 n2n3;
-	n2n3 = N2.cross(N3);
-	btVector3 n3n1;
-	n3n1 = N3.cross(N1);
-	btVector3 n1n2;
-	n1n2 = N1.cross(N2);
-
-	btScalar quotient = (N1.dot(n2n3));
-
-	btAssert(btFabs(quotient) > btScalar(0.000001));
-
-	quotient = btScalar(-1.) / quotient;
-	n2n3 *= p0.dist;
-	n3n1 *= p1.dist;
-	n1n2 *= p2.dist;
-	btVector3 potentialVertex = n2n3;
-	potentialVertex += n3n1;
-	potentialVertex += n1n2;
-	potentialVertex *= quotient;
-
-	btVector3 result(potentialVertex.getX(), potentialVertex.getY(), potentialVertex.getZ());
-	return result;
-}
-
-btScalar DistanceBetweenLines(const btVector3 &ustart, const btVector3 &udir, const btVector3 &vstart, const btVector3 &vdir, btVector3 *upoint = NULL, btVector3 *vpoint = NULL);
-btVector3 TriNormal(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2);
-btVector3 NormalOf(const btVector3 *vert, const int n);
-
-btVector3 PlaneLineIntersection(const btPlane &plane, const btVector3 &p0, const btVector3 &p1)
-{
-	// returns the point where the line p0-p1 intersects the plane n&d
-	btVector3 dif;
-	dif = p1 - p0;
-	btScalar dn = btDot(plane.normal, dif);
-	btScalar t = -(plane.dist + btDot(plane.normal, p0)) / dn;
-	return p0 + (dif * t);
-}
-
-btVector3 PlaneProject(const btPlane &plane, const btVector3 &point)
-{
-	return point - plane.normal * (btDot(point, plane.normal) + plane.dist);
-}
-
-btVector3 TriNormal(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2)
-{
-	// return the normal of the triangle
-	// inscribed by v0, v1, and v2
-	btVector3 cp = btCross(v1 - v0, v2 - v1);
-	btScalar m = cp.length();
-	if (m == 0) return btVector3(1, 0, 0);
-	return cp * (btScalar(1.0) / m);
-}
-
-btScalar DistanceBetweenLines(const btVector3 &ustart, const btVector3 &udir, const btVector3 &vstart, const btVector3 &vdir, btVector3 *upoint, btVector3 *vpoint)
-{
-	btVector3 cp;
-	cp = btCross(udir, vdir).normalized();
-
-	btScalar distu = -btDot(cp, ustart);
-	btScalar distv = -btDot(cp, vstart);
-	btScalar dist = (btScalar)fabs(distu - distv);
-	if (upoint)
-	{
-		btPlane plane;
-		plane.normal = btCross(vdir, cp).normalized();
-		plane.dist = -btDot(plane.normal, vstart);
-		*upoint = PlaneLineIntersection(plane, ustart, ustart + udir);
-	}
-	if (vpoint)
-	{
-		btPlane plane;
-		plane.normal = btCross(udir, cp).normalized();
-		plane.dist = -btDot(plane.normal, ustart);
-		*vpoint = PlaneLineIntersection(plane, vstart, vstart + vdir);
-	}
-	return dist;
-}
-
-#define COPLANAR (0)
-#define UNDER (1)
-#define OVER (2)
-#define SPLIT (OVER | UNDER)
-#define PAPERWIDTH (btScalar(0.001))
-
-btScalar planetestepsilon = PAPERWIDTH;
-
-typedef ConvexH::HalfEdge HalfEdge;
-
-ConvexH::ConvexH(int vertices_size, int edges_size, int facets_size)
-{
-	vertices.resize(vertices_size);
-	edges.resize(edges_size);
-	facets.resize(facets_size);
-}
-
-int PlaneTest(const btPlane &p, const btVector3 &v);
-int PlaneTest(const btPlane &p, const btVector3 &v)
-{
-	btScalar a = btDot(v, p.normal) + p.dist;
-	int flag = (a > planetestepsilon) ? OVER : ((a < -planetestepsilon) ? UNDER : COPLANAR);
-	return flag;
-}
-
-int SplitTest(ConvexH &convex, const btPlane &plane);
-int SplitTest(ConvexH &convex, const btPlane &plane)
-{
-	int flag = 0;
-	for (int i = 0; i < convex.vertices.size(); i++)
-	{
-		flag |= PlaneTest(plane, convex.vertices[i]);
-	}
-	return flag;
-}
-
-class VertFlag
-{
-public:
-	unsigned char planetest;
-	unsigned char junk;
-	unsigned char undermap;
-	unsigned char overmap;
-};
-class EdgeFlag
-{
-public:
-	unsigned char planetest;
-	unsigned char fixes;
-	short undermap;
-	short overmap;
-};
-class PlaneFlag
-{
-public:
-	unsigned char undermap;
-	unsigned char overmap;
-};
-class Coplanar
-{
-public:
-	unsigned short ea;
-	unsigned char v0;
-	unsigned char v1;
-};
-
-template <class T>
-int maxdirfiltered(const T *p, int count, const T &dir, btAlignedObjectArray<int> &allow)
-{
-	btAssert(count);
-	int m = -1;
-	for (int i = 0; i < count; i++)
-		if (allow[i])
-		{
-			if (m == -1 || btDot(p[i], dir) > btDot(p[m], dir))
-				m = i;
-		}
-	btAssert(m != -1);
-	return m;
-}
-
-btVector3 orth(const btVector3 &v);
-btVector3 orth(const btVector3 &v)
-{
-	btVector3 a = btCross(v, btVector3(0, 0, 1));
-	btVector3 b = btCross(v, btVector3(0, 1, 0));
-	if (a.length() > b.length())
-	{
-		return a.normalized();
-	}
-	else
-	{
-		return b.normalized();
-	}
-}
-
-template <class T>
-int maxdirsterid(const T *p, int count, const T &dir, btAlignedObjectArray<int> &allow)
-{
-	int m = -1;
-	while (m == -1)
-	{
-		m = maxdirfiltered(p, count, dir, allow);
-		if (allow[m] == 3) return m;
-		T u = orth(dir);
-		T v = btCross(u, dir);
-		int ma = -1;
-		for (btScalar x = btScalar(0.0); x <= btScalar(360.0); x += btScalar(45.0))
-		{
-			btScalar s = btSin(SIMD_RADS_PER_DEG * (x));
-			btScalar c = btCos(SIMD_RADS_PER_DEG * (x));
-			int mb = maxdirfiltered(p, count, dir + (u * s + v * c) * btScalar(0.025), allow);
-			if (ma == m && mb == m)
-			{
-				allow[m] = 3;
-				return m;
-			}
-			if (ma != -1 && ma != mb)  // Yuck - this is really ugly
-			{
-				int mc = ma;
-				for (btScalar xx = x - btScalar(40.0); xx <= x; xx += btScalar(5.0))
-				{
-					btScalar s = btSin(SIMD_RADS_PER_DEG * (xx));
-					btScalar c = btCos(SIMD_RADS_PER_DEG * (xx));
-					int md = maxdirfiltered(p, count, dir + (u * s + v * c) * btScalar(0.025), allow);
-					if (mc == m && md == m)
-					{
-						allow[m] = 3;
-						return m;
-					}
-					mc = md;
-				}
-			}
-			ma = mb;
-		}
-		allow[m] = 0;
-		m = -1;
-	}
-	btAssert(0);
-	return m;
-}
-
-int operator==(const int3 &a, const int3 &b);
-int operator==(const int3 &a, const int3 &b)
-{
-	for (int i = 0; i < 3; i++)
-	{
-		if (a[i] != b[i]) return 0;
-	}
-	return 1;
-}
-
-int above(btVector3 *vertices, const int3 &t, const btVector3 &p, btScalar epsilon);
-int above(btVector3 *vertices, const int3 &t, const btVector3 &p, btScalar epsilon)
-{
-	btVector3 n = TriNormal(vertices[t[0]], vertices[t[1]], vertices[t[2]]);
-	return (btDot(n, p - vertices[t[0]]) > epsilon);  // EPSILON???
-}
-int hasedge(const int3 &t, int a, int b);
-int hasedge(const int3 &t, int a, int b)
-{
-	for (int i = 0; i < 3; i++)
-	{
-		int i1 = (i + 1) % 3;
-		if (t[i] == a && t[i1] == b) return 1;
-	}
-	return 0;
-}
-int hasvert(const int3 &t, int v);
-int hasvert(const int3 &t, int v)
-{
-	return (t[0] == v || t[1] == v || t[2] == v);
-}
-int shareedge(const int3 &a, const int3 &b);
-int shareedge(const int3 &a, const int3 &b)
-{
-	int i;
-	for (i = 0; i < 3; i++)
-	{
-		int i1 = (i + 1) % 3;
-		if (hasedge(a, b[i1], b[i])) return 1;
-	}
-	return 0;
-}
-
-class btHullTriangle;
-
-class btHullTriangle : public int3
-{
-public:
-	int3 n;
-	int id;
-	int vmax;
-	btScalar rise;
-	btHullTriangle(int a, int b, int c) : int3(a, b, c), n(-1, -1, -1)
-	{
-		vmax = -1;
-		rise = btScalar(0.0);
-	}
-	~btHullTriangle()
-	{
-	}
-	int &neib(int a, int b);
-};
-
-int &btHullTriangle::neib(int a, int b)
-{
-	static int er = -1;
-	int i;
-	for (i = 0; i < 3; i++)
-	{
-		int i1 = (i + 1) % 3;
-		int i2 = (i + 2) % 3;
-		if ((*this)[i] == a && (*this)[i1] == b) return n[i2];
-		if ((*this)[i] == b && (*this)[i1] == a) return n[i2];
-	}
-	btAssert(0);
-	return er;
-}
-void HullLibrary::b2bfix(btHullTriangle *s, btHullTriangle *t)
-{
-	int i;
-	for (i = 0; i < 3; i++)
-	{
-		int i1 = (i + 1) % 3;
-		int i2 = (i + 2) % 3;
-		int a = (*s)[i1];
-		int b = (*s)[i2];
-		btAssert(m_tris[s->neib(a, b)]->neib(b, a) == s->id);
-		btAssert(m_tris[t->neib(a, b)]->neib(b, a) == t->id);
-		m_tris[s->neib(a, b)]->neib(b, a) = t->neib(b, a);
-		m_tris[t->neib(b, a)]->neib(a, b) = s->neib(a, b);
-	}
-}
-
-void HullLibrary::removeb2b(btHullTriangle *s, btHullTriangle *t)
-{
-	b2bfix(s, t);
-	deAllocateTriangle(s);
-
-	deAllocateTriangle(t);
-}
-
-void HullLibrary::checkit(btHullTriangle *t)
-{
-	(void)t;
-
-	int i;
-	btAssert(m_tris[t->id] == t);
-	for (i = 0; i < 3; i++)
-	{
-		int i1 = (i + 1) % 3;
-		int i2 = (i + 2) % 3;
-		int a = (*t)[i1];
-		int b = (*t)[i2];
-
-		// release compile fix
-		(void)i1;
-		(void)i2;
-		(void)a;
-		(void)b;
-
-		btAssert(a != b);
-		btAssert(m_tris[t->n[i]]->neib(b, a) == t->id);
-	}
-}
-
-btHullTriangle *HullLibrary::allocateTriangle(int a, int b, int c)
-{
-	void *mem = btAlignedAlloc(sizeof(btHullTriangle), 16);
-	btHullTriangle *tr = new (mem) btHullTriangle(a, b, c);
-	tr->id = m_tris.size();
-	m_tris.push_back(tr);
-
-	return tr;
-}
-
-void HullLibrary::deAllocateTriangle(btHullTriangle *tri)
-{
-	btAssert(m_tris[tri->id] == tri);
-	m_tris[tri->id] = NULL;
-	tri->~btHullTriangle();
-	btAlignedFree(tri);
-}
-
-void HullLibrary::extrude(btHullTriangle *t0, int v)
-{
-	int3 t = *t0;
-	int n = m_tris.size();
-	btHullTriangle *ta = allocateTriangle(v, t[1], t[2]);
-	ta->n = int3(t0->n[0], n + 1, n + 2);
-	m_tris[t0->n[0]]->neib(t[1], t[2]) = n + 0;
-	btHullTriangle *tb = allocateTriangle(v, t[2], t[0]);
-	tb->n = int3(t0->n[1], n + 2, n + 0);
-	m_tris[t0->n[1]]->neib(t[2], t[0]) = n + 1;
-	btHullTriangle *tc = allocateTriangle(v, t[0], t[1]);
-	tc->n = int3(t0->n[2], n + 0, n + 1);
-	m_tris[t0->n[2]]->neib(t[0], t[1]) = n + 2;
-	checkit(ta);
-	checkit(tb);
-	checkit(tc);
-	if (hasvert(*m_tris[ta->n[0]], v)) removeb2b(ta, m_tris[ta->n[0]]);
-	if (hasvert(*m_tris[tb->n[0]], v)) removeb2b(tb, m_tris[tb->n[0]]);
-	if (hasvert(*m_tris[tc->n[0]], v)) removeb2b(tc, m_tris[tc->n[0]]);
-	deAllocateTriangle(t0);
-}
-
-btHullTriangle *HullLibrary::extrudable(btScalar epsilon)
-{
-	int i;
-	btHullTriangle *t = NULL;
-	for (i = 0; i < m_tris.size(); i++)
-	{
-		if (!t || (m_tris[i] && t->rise < m_tris[i]->rise))
-		{
-			t = m_tris[i];
-		}
-	}
-	return (t->rise > epsilon) ? t : NULL;
-}
-
-int4 HullLibrary::FindSimplex(btVector3 *verts, int verts_count, btAlignedObjectArray<int> &allow)
-{
-	btVector3 basis[3];
-	basis[0] = btVector3(btScalar(0.01), btScalar(0.02), btScalar(1.0));
-	int p0 = maxdirsterid(verts, verts_count, basis[0], allow);
-	int p1 = maxdirsterid(verts, verts_count, -basis[0], allow);
-	basis[0] = verts[p0] - verts[p1];
-	if (p0 == p1 || basis[0] == btVector3(0, 0, 0))
-		return int4(-1, -1, -1, -1);
-	basis[1] = btCross(btVector3(btScalar(1), btScalar(0.02), btScalar(0)), basis[0]);
-	basis[2] = btCross(btVector3(btScalar(-0.02), btScalar(1), btScalar(0)), basis[0]);
-	if (basis[1].length() > basis[2].length())
-	{
-		basis[1].normalize();
-	}
-	else
-	{
-		basis[1] = basis[2];
-		basis[1].normalize();
-	}
-	int p2 = maxdirsterid(verts, verts_count, basis[1], allow);
-	if (p2 == p0 || p2 == p1)
-	{
-		p2 = maxdirsterid(verts, verts_count, -basis[1], allow);
-	}
-	if (p2 == p0 || p2 == p1)
-		return int4(-1, -1, -1, -1);
-	basis[1] = verts[p2] - verts[p0];
-	basis[2] = btCross(basis[1], basis[0]).normalized();
-	int p3 = maxdirsterid(verts, verts_count, basis[2], allow);
-	if (p3 == p0 || p3 == p1 || p3 == p2) p3 = maxdirsterid(verts, verts_count, -basis[2], allow);
-	if (p3 == p0 || p3 == p1 || p3 == p2)
-		return int4(-1, -1, -1, -1);
-	btAssert(!(p0 == p1 || p0 == p2 || p0 == p3 || p1 == p2 || p1 == p3 || p2 == p3));
-	if (btDot(verts[p3] - verts[p0], btCross(verts[p1] - verts[p0], verts[p2] - verts[p0])) < 0)
-	{
-		btSwap(p2, p3);
-	}
-	return int4(p0, p1, p2, p3);
-}
-
-int HullLibrary::calchullgen(btVector3 *verts, int verts_count, int vlimit)
-{
-	if (verts_count < 4) return 0;
-	if (vlimit == 0) vlimit = 1000000000;
-	int j;
-	btVector3 bmin(*verts), bmax(*verts);
-	btAlignedObjectArray<int> isextreme;
-	isextreme.reserve(verts_count);
-	btAlignedObjectArray<int> allow;
-	allow.reserve(verts_count);
-
-	for (j = 0; j < verts_count; j++)
-	{
-		allow.push_back(1);
-		isextreme.push_back(0);
-		bmin.setMin(verts[j]);
-		bmax.setMax(verts[j]);
-	}
-	btScalar epsilon = (bmax - bmin).length() * btScalar(0.001);
-	btAssert(epsilon != 0.0);
-
-	int4 p = FindSimplex(verts, verts_count, allow);
-	if (p.x == -1) return 0;  // simplex failed
-
-	btVector3 center = (verts[p[0]] + verts[p[1]] + verts[p[2]] + verts[p[3]]) / btScalar(4.0);  // a valid interior point
-	btHullTriangle *t0 = allocateTriangle(p[2], p[3], p[1]);
-	t0->n = int3(2, 3, 1);
-	btHullTriangle *t1 = allocateTriangle(p[3], p[2], p[0]);
-	t1->n = int3(3, 2, 0);
-	btHullTriangle *t2 = allocateTriangle(p[0], p[1], p[3]);
-	t2->n = int3(0, 1, 3);
-	btHullTriangle *t3 = allocateTriangle(p[1], p[0], p[2]);
-	t3->n = int3(1, 0, 2);
-	isextreme[p[0]] = isextreme[p[1]] = isextreme[p[2]] = isextreme[p[3]] = 1;
-	checkit(t0);
-	checkit(t1);
-	checkit(t2);
-	checkit(t3);
-
-	for (j = 0; j < m_tris.size(); j++)
-	{
-		btHullTriangle *t = m_tris[j];
-		btAssert(t);
-		btAssert(t->vmax < 0);
-		btVector3 n = TriNormal(verts[(*t)[0]], verts[(*t)[1]], verts[(*t)[2]]);
-		t->vmax = maxdirsterid(verts, verts_count, n, allow);
-		t->rise = btDot(n, verts[t->vmax] - verts[(*t)[0]]);
-	}
-	btHullTriangle *te;
-	vlimit -= 4;
-	while (vlimit > 0 && ((te = extrudable(epsilon)) != 0))
-	{
-		//int3 ti=*te;
-		int v = te->vmax;
-		btAssert(v != -1);
-		btAssert(!isextreme[v]);  // wtf we've already done this vertex
-		isextreme[v] = 1;
-		//if(v==p0 || v==p1 || v==p2 || v==p3) continue; // done these already
-		j = m_tris.size();
-		while (j--)
-		{
-			if (!m_tris[j]) continue;
-			int3 t = *m_tris[j];
-			if (above(verts, t, verts[v], btScalar(0.01) * epsilon))
-			{
-				extrude(m_tris[j], v);
-			}
-		}
-		// now check for those degenerate cases where we have a flipped triangle or a really skinny triangle
-		j = m_tris.size();
-		while (j--)
-		{
-			if (!m_tris[j]) continue;
-			if (!hasvert(*m_tris[j], v)) break;
-			int3 nt = *m_tris[j];
-			if (above(verts, nt, center, btScalar(0.01) * epsilon) || btCross(verts[nt[1]] - verts[nt[0]], verts[nt[2]] - verts[nt[1]]).length() < epsilon * epsilon * btScalar(0.1))
-			{
-				btHullTriangle *nb = m_tris[m_tris[j]->n[0]];
-				btAssert(nb);
-				btAssert(!hasvert(*nb, v));
-				btAssert(nb->id < j);
-				extrude(nb, v);
-				j = m_tris.size();
-			}
-		}
-		j = m_tris.size();
-		while (j--)
-		{
-			btHullTriangle *t = m_tris[j];
-			if (!t) continue;
-			if (t->vmax >= 0) break;
-			btVector3 n = TriNormal(verts[(*t)[0]], verts[(*t)[1]], verts[(*t)[2]]);
-			t->vmax = maxdirsterid(verts, verts_count, n, allow);
-			if (isextreme[t->vmax])
-			{
-				t->vmax = -1;  // already done that vertex - algorithm needs to be able to terminate.
-			}
-			else
-			{
-				t->rise = btDot(n, verts[t->vmax] - verts[(*t)[0]]);
-			}
-		}
-		vlimit--;
-	}
-	return 1;
-}
-
-int HullLibrary::calchull(btVector3 *verts, int verts_count, TUIntArray &tris_out, int &tris_count, int vlimit)
-{
-	int rc = calchullgen(verts, verts_count, vlimit);
-	if (!rc) return 0;
-	btAlignedObjectArray<int> ts;
-	int i;
-
-	for (i = 0; i < m_tris.size(); i++)
-	{
-		if (m_tris[i])
-		{
-			for (int j = 0; j < 3; j++)
-				ts.push_back((*m_tris[i])[j]);
-			deAllocateTriangle(m_tris[i]);
-		}
-	}
-	tris_count = ts.size() / 3;
-	tris_out.resize(ts.size());
-
-	for (i = 0; i < ts.size(); i++)
-	{
-		tris_out[i] = static_cast<unsigned int>(ts[i]);
-	}
-	m_tris.resize(0);
-
-	return 1;
-}
-
-bool HullLibrary::ComputeHull(unsigned int vcount, const btVector3 *vertices, PHullResult &result, unsigned int vlimit)
-{
-	int tris_count;
-	int ret = calchull((btVector3 *)vertices, (int)vcount, result.m_Indices, tris_count, static_cast<int>(vlimit));
-	if (!ret) return false;
-	result.mIndexCount = (unsigned int)(tris_count * 3);
-	result.mFaceCount = (unsigned int)tris_count;
-	result.mVertices = (btVector3 *)vertices;
-	result.mVcount = (unsigned int)vcount;
-	return true;
-}
-
-void ReleaseHull(PHullResult &result);
-void ReleaseHull(PHullResult &result)
-{
-	if (result.m_Indices.size())
-	{
-		result.m_Indices.clear();
-	}
-
-	result.mVcount = 0;
-	result.mIndexCount = 0;
-	result.mVertices = 0;
-}
-
-//*********************************************************************
-//*********************************************************************
-//********  HullLib header
-//*********************************************************************
-//*********************************************************************
-
-//*********************************************************************
-//*********************************************************************
-//********  HullLib implementation
-//*********************************************************************
-//*********************************************************************
-
-HullError HullLibrary::CreateConvexHull(const HullDesc &desc,  // describes the input request
-										HullResult &result)    // contains the resulst
-{
-	HullError ret = QE_FAIL;
-
-	PHullResult hr;
-
-	unsigned int vcount = desc.mVcount;
-	if (vcount < 8) vcount = 8;
-
-	btAlignedObjectArray<btVector3> vertexSource;
-	vertexSource.resize(static_cast<int>(vcount));
-
-	btVector3 scale;
-
-	unsigned int ovcount;
-
-	bool ok = CleanupVertices(desc.mVcount, desc.mVertices, desc.mVertexStride, ovcount, &vertexSource[0], desc.mNormalEpsilon, scale);  // normalize point cloud, remove duplicates!
-
-	if (ok)
-	{
-		//		if ( 1 ) // scale vertices back to their original size.
-		{
-			for (unsigned int i = 0; i < ovcount; i++)
-			{
-				btVector3 &v = vertexSource[static_cast<int>(i)];
-				v[0] *= scale[0];
-				v[1] *= scale[1];
-				v[2] *= scale[2];
-			}
-		}
-
-		ok = ComputeHull(ovcount, &vertexSource[0], hr, desc.mMaxVertices);
-
-		if (ok)
-		{
-			// re-index triangle mesh so it refers to only used vertices, rebuild a new vertex table.
-			btAlignedObjectArray<btVector3> vertexScratch;
-			vertexScratch.resize(static_cast<int>(hr.mVcount));
-
-			BringOutYourDead(hr.mVertices, hr.mVcount, &vertexScratch[0], ovcount, &hr.m_Indices[0], hr.mIndexCount);
-
-			ret = QE_OK;
-
-			if (desc.HasHullFlag(QF_TRIANGLES))  // if he wants the results as triangle!
-			{
-				result.mPolygons = false;
-				result.mNumOutputVertices = ovcount;
-				result.m_OutputVertices.resize(static_cast<int>(ovcount));
-				result.mNumFaces = hr.mFaceCount;
-				result.mNumIndices = hr.mIndexCount;
-
-				result.m_Indices.resize(static_cast<int>(hr.mIndexCount));
-
-				memcpy(&result.m_OutputVertices[0], &vertexScratch[0], sizeof(btVector3) * ovcount);
-
-				if (desc.HasHullFlag(QF_REVERSE_ORDER))
-				{
-					const unsigned int *source = &hr.m_Indices[0];
-					unsigned int *dest = &result.m_Indices[0];
-
-					for (unsigned int i = 0; i < hr.mFaceCount; i++)
-					{
-						dest[0] = source[2];
-						dest[1] = source[1];
-						dest[2] = source[0];
-						dest += 3;
-						source += 3;
-					}
-				}
-				else
-				{
-					memcpy(&result.m_Indices[0], &hr.m_Indices[0], sizeof(unsigned int) * hr.mIndexCount);
-				}
-			}
-			else
-			{
-				result.mPolygons = true;
-				result.mNumOutputVertices = ovcount;
-				result.m_OutputVertices.resize(static_cast<int>(ovcount));
-				result.mNumFaces = hr.mFaceCount;
-				result.mNumIndices = hr.mIndexCount + hr.mFaceCount;
-				result.m_Indices.resize(static_cast<int>(result.mNumIndices));
-				memcpy(&result.m_OutputVertices[0], &vertexScratch[0], sizeof(btVector3) * ovcount);
-
-				//				if ( 1 )
-				{
-					const unsigned int *source = &hr.m_Indices[0];
-					unsigned int *dest = &result.m_Indices[0];
-					for (unsigned int i = 0; i < hr.mFaceCount; i++)
-					{
-						dest[0] = 3;
-						if (desc.HasHullFlag(QF_REVERSE_ORDER))
-						{
-							dest[1] = source[2];
-							dest[2] = source[1];
-							dest[3] = source[0];
-						}
-						else
-						{
-							dest[1] = source[0];
-							dest[2] = source[1];
-							dest[3] = source[2];
-						}
-
-						dest += 4;
-						source += 3;
-					}
-				}
-			}
-			ReleaseHull(hr);
-		}
-	}
-
-	return ret;
-}
-
-HullError HullLibrary::ReleaseResult(HullResult &result)  // release memory allocated for this result, we are done with it.
-{
-	if (result.m_OutputVertices.size())
-	{
-		result.mNumOutputVertices = 0;
-		result.m_OutputVertices.clear();
-	}
-	if (result.m_Indices.size())
-	{
-		result.mNumIndices = 0;
-		result.m_Indices.clear();
-	}
-	return QE_OK;
-}
-
-static void addPoint(unsigned int &vcount, btVector3 *p, btScalar x, btScalar y, btScalar z)
-{
-	// XXX, might be broken
-	btVector3 &dest = p[vcount];
-	dest[0] = x;
-	dest[1] = y;
-	dest[2] = z;
-	vcount++;
-}
-
-btScalar GetDist(btScalar px, btScalar py, btScalar pz, const btScalar *p2);
-btScalar GetDist(btScalar px, btScalar py, btScalar pz, const btScalar *p2)
-{
-	btScalar dx = px - p2[0];
-	btScalar dy = py - p2[1];
-	btScalar dz = pz - p2[2];
-
-	return dx * dx + dy * dy + dz * dz;
-}
-
-bool HullLibrary::CleanupVertices(unsigned int svcount,
-								  const btVector3 *svertices,
-								  unsigned int stride,
-								  unsigned int &vcount,  // output number of vertices
-								  btVector3 *vertices,   // location to store the results.
-								  btScalar normalepsilon,
-								  btVector3 &scale)
-{
-	if (svcount == 0) return false;
-
-	m_vertexIndexMapping.resize(0);
-
-#define EPSILON btScalar(0.000001) /* close enough to consider two btScalaring point numbers to be 'the same'. */
-
-	vcount = 0;
-
-	btScalar recip[3] = {0.f, 0.f, 0.f};
-
-	if (scale)
-	{
-		scale[0] = 1;
-		scale[1] = 1;
-		scale[2] = 1;
-	}
-
-	btScalar bmin[3] = {FLT_MAX, FLT_MAX, FLT_MAX};
-	btScalar bmax[3] = {-FLT_MAX, -FLT_MAX, -FLT_MAX};
-
-	const char *vtx = (const char *)svertices;
-
-	//	if ( 1 )
-	{
-		for (unsigned int i = 0; i < svcount; i++)
-		{
-			const btScalar *p = (const btScalar *)vtx;
-
-			vtx += stride;
-
-			for (int j = 0; j < 3; j++)
-			{
-				if (p[j] < bmin[j]) bmin[j] = p[j];
-				if (p[j] > bmax[j]) bmax[j] = p[j];
-			}
-		}
-	}
-
-	btScalar dx = bmax[0] - bmin[0];
-	btScalar dy = bmax[1] - bmin[1];
-	btScalar dz = bmax[2] - bmin[2];
-
-	btVector3 center;
-
-	center[0] = dx * btScalar(0.5) + bmin[0];
-	center[1] = dy * btScalar(0.5) + bmin[1];
-	center[2] = dz * btScalar(0.5) + bmin[2];
-
-	if (dx < EPSILON || dy < EPSILON || dz < EPSILON || svcount < 3)
-	{
-		btScalar len = FLT_MAX;
-
-		if (dx > EPSILON && dx < len) len = dx;
-		if (dy > EPSILON && dy < len) len = dy;
-		if (dz > EPSILON && dz < len) len = dz;
-
-		if (len == FLT_MAX)
-		{
-			dx = dy = dz = btScalar(0.01);  // one centimeter
-		}
-		else
-		{
-			if (dx < EPSILON) dx = len * btScalar(0.05);  // 1/5th the shortest non-zero edge.
-			if (dy < EPSILON) dy = len * btScalar(0.05);
-			if (dz < EPSILON) dz = len * btScalar(0.05);
-		}
-
-		btScalar x1 = center[0] - dx;
-		btScalar x2 = center[0] + dx;
-
-		btScalar y1 = center[1] - dy;
-		btScalar y2 = center[1] + dy;
-
-		btScalar z1 = center[2] - dz;
-		btScalar z2 = center[2] + dz;
-
-		addPoint(vcount, vertices, x1, y1, z1);
-		addPoint(vcount, vertices, x2, y1, z1);
-		addPoint(vcount, vertices, x2, y2, z1);
-		addPoint(vcount, vertices, x1, y2, z1);
-		addPoint(vcount, vertices, x1, y1, z2);
-		addPoint(vcount, vertices, x2, y1, z2);
-		addPoint(vcount, vertices, x2, y2, z2);
-		addPoint(vcount, vertices, x1, y2, z2);
-
-		return true;  // return cube
-	}
-	else
-	{
-		if (scale)
-		{
-			scale[0] = dx;
-			scale[1] = dy;
-			scale[2] = dz;
-
-			recip[0] = 1 / dx;
-			recip[1] = 1 / dy;
-			recip[2] = 1 / dz;
-
-			center[0] *= recip[0];
-			center[1] *= recip[1];
-			center[2] *= recip[2];
-		}
-	}
-
-	vtx = (const char *)svertices;
-
-	for (unsigned int i = 0; i < svcount; i++)
-	{
-		const btVector3 *p = (const btVector3 *)vtx;
-		vtx += stride;
-
-		btScalar px = p->getX();
-		btScalar py = p->getY();
-		btScalar pz = p->getZ();
-
-		if (scale)
-		{
-			px = px * recip[0];  // normalize
-			py = py * recip[1];  // normalize
-			pz = pz * recip[2];  // normalize
-		}
-
-		//		if ( 1 )
-		{
-			unsigned int j;
-
-			for (j = 0; j < vcount; j++)
-			{
-				/// XXX might be broken
-				btVector3 &v = vertices[j];
-
-				btScalar x = v[0];
-				btScalar y = v[1];
-				btScalar z = v[2];
-
-				btScalar dx = btFabs(x - px);
-				btScalar dy = btFabs(y - py);
-				btScalar dz = btFabs(z - pz);
-
-				if (dx < normalepsilon && dy < normalepsilon && dz < normalepsilon)
-				{
-					// ok, it is close enough to the old one
-					// now let us see if it is further from the center of the point cloud than the one we already recorded.
-					// in which case we keep this one instead.
-
-					btScalar dist1 = GetDist(px, py, pz, center);
-					btScalar dist2 = GetDist(v[0], v[1], v[2], center);
-
-					if (dist1 > dist2)
-					{
-						v[0] = px;
-						v[1] = py;
-						v[2] = pz;
-					}
-
-					break;
-				}
-			}
-
-			if (j == vcount)
-			{
-				btVector3 &dest = vertices[vcount];
-				dest[0] = px;
-				dest[1] = py;
-				dest[2] = pz;
-				vcount++;
-			}
-			m_vertexIndexMapping.push_back(j);
-		}
-	}
-
-	// ok..now make sure we didn't prune so many vertices it is now invalid.
-	//	if ( 1 )
-	{
-		btScalar bmin[3] = {FLT_MAX, FLT_MAX, FLT_MAX};
-		btScalar bmax[3] = {-FLT_MAX, -FLT_MAX, -FLT_MAX};
-
-		for (unsigned int i = 0; i < vcount; i++)
-		{
-			const btVector3 &p = vertices[i];
-			for (int j = 0; j < 3; j++)
-			{
-				if (p[j] < bmin[j]) bmin[j] = p[j];
-				if (p[j] > bmax[j]) bmax[j] = p[j];
-			}
-		}
-
-		btScalar dx = bmax[0] - bmin[0];
-		btScalar dy = bmax[1] - bmin[1];
-		btScalar dz = bmax[2] - bmin[2];
-
-		if (dx < EPSILON || dy < EPSILON || dz < EPSILON || vcount < 3)
-		{
-			btScalar cx = dx * btScalar(0.5) + bmin[0];
-			btScalar cy = dy * btScalar(0.5) + bmin[1];
-			btScalar cz = dz * btScalar(0.5) + bmin[2];
-
-			btScalar len = FLT_MAX;
-
-			if (dx >= EPSILON && dx < len) len = dx;
-			if (dy >= EPSILON && dy < len) len = dy;
-			if (dz >= EPSILON && dz < len) len = dz;
-
-			if (len == FLT_MAX)
-			{
-				dx = dy = dz = btScalar(0.01);  // one centimeter
-			}
-			else
-			{
-				if (dx < EPSILON) dx = len * btScalar(0.05);  // 1/5th the shortest non-zero edge.
-				if (dy < EPSILON) dy = len * btScalar(0.05);
-				if (dz < EPSILON) dz = len * btScalar(0.05);
-			}
-
-			btScalar x1 = cx - dx;
-			btScalar x2 = cx + dx;
-
-			btScalar y1 = cy - dy;
-			btScalar y2 = cy + dy;
-
-			btScalar z1 = cz - dz;
-			btScalar z2 = cz + dz;
-
-			vcount = 0;  // add box
-
-			addPoint(vcount, vertices, x1, y1, z1);
-			addPoint(vcount, vertices, x2, y1, z1);
-			addPoint(vcount, vertices, x2, y2, z1);
-			addPoint(vcount, vertices, x1, y2, z1);
-			addPoint(vcount, vertices, x1, y1, z2);
-			addPoint(vcount, vertices, x2, y1, z2);
-			addPoint(vcount, vertices, x2, y2, z2);
-			addPoint(vcount, vertices, x1, y2, z2);
-
-			return true;
-		}
-	}
-
-	return true;
-}
-
-void HullLibrary::BringOutYourDead(const btVector3 *verts, unsigned int vcount, btVector3 *overts, unsigned int &ocount, unsigned int *indices, unsigned indexcount)
-{
-	btAlignedObjectArray<int> tmpIndices;
-	tmpIndices.resize(m_vertexIndexMapping.size());
-	int i;
-
-	for (i = 0; i < m_vertexIndexMapping.size(); i++)
-	{
-		tmpIndices[i] = m_vertexIndexMapping[i];
-	}
-
-	TUIntArray usedIndices;
-	usedIndices.resize(static_cast<int>(vcount));
-	memset(&usedIndices[0], 0, sizeof(unsigned int) * vcount);
-
-	ocount = 0;
-
-	for (i = 0; i < int(indexcount); i++)
-	{
-		unsigned int v = indices[i];  // original array index
-
-		btAssert(v >= 0 && v < vcount);
-
-		if (usedIndices[static_cast<int>(v)])  // if already remapped
-		{
-			indices[i] = usedIndices[static_cast<int>(v)] - 1;  // index to new array
-		}
-		else
-		{
-			indices[i] = ocount;  // new index mapping
-
-			overts[ocount][0] = verts[v][0];  // copy old vert to new vert array
-			overts[ocount][1] = verts[v][1];
-			overts[ocount][2] = verts[v][2];
-
-			for (int k = 0; k < m_vertexIndexMapping.size(); k++)
-			{
-				if (tmpIndices[k] == int(v))
-					m_vertexIndexMapping[k] = ocount;
-			}
-
-			ocount++;  // increment output vert count
-
-			btAssert(ocount >= 0 && ocount <= vcount);
-
-			usedIndices[static_cast<int>(v)] = ocount;  // assign new index remapping
-		}
-	}
-}
diff --git a/thirdparty/bullet/LinearMath/btConvexHull.h b/thirdparty/bullet/LinearMath/btConvexHull.h
deleted file mode 100644
index f890d75ea1..0000000000
--- a/thirdparty/bullet/LinearMath/btConvexHull.h
+++ /dev/null
@@ -1,233 +0,0 @@
-
-/*
-Stan Melax Convex Hull Computation
-Copyright (c) 2008 Stan Melax http://www.melax.com/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-///includes modifications/improvements by John Ratcliff, see BringOutYourDead below.
-
-#ifndef BT_CD_HULL_H
-#define BT_CD_HULL_H
-
-#include "btVector3.h"
-#include "btAlignedObjectArray.h"
-
-typedef btAlignedObjectArray<unsigned int> TUIntArray;
-
-class HullResult
-{
-public:
-	HullResult(void)
-	{
-		mPolygons = true;
-		mNumOutputVertices = 0;
-		mNumFaces = 0;
-		mNumIndices = 0;
-	}
-	bool mPolygons;                                    // true if indices represents polygons, false indices are triangles
-	unsigned int mNumOutputVertices;                   // number of vertices in the output hull
-	btAlignedObjectArray<btVector3> m_OutputVertices;  // array of vertices
-	unsigned int mNumFaces;                            // the number of faces produced
-	unsigned int mNumIndices;                          // the total number of indices
-	btAlignedObjectArray<unsigned int> m_Indices;      // pointer to indices.
-
-	// If triangles, then indices are array indexes into the vertex list.
-	// If polygons, indices are in the form (number of points in face) (p1, p2, p3, ..) etc..
-};
-
-enum HullFlag
-{
-	QF_TRIANGLES = (1 << 0),      // report results as triangles, not polygons.
-	QF_REVERSE_ORDER = (1 << 1),  // reverse order of the triangle indices.
-	QF_DEFAULT = QF_TRIANGLES
-};
-
-class HullDesc
-{
-public:
-	HullDesc(void)
-	{
-		mFlags = QF_DEFAULT;
-		mVcount = 0;
-		mVertices = 0;
-		mVertexStride = sizeof(btVector3);
-		mNormalEpsilon = 0.001f;
-		mMaxVertices = 4096;  // maximum number of points to be considered for a convex hull.
-		mMaxFaces = 4096;
-	};
-
-	HullDesc(HullFlag flag,
-			 unsigned int vcount,
-			 const btVector3* vertices,
-			 unsigned int stride = sizeof(btVector3))
-	{
-		mFlags = flag;
-		mVcount = vcount;
-		mVertices = vertices;
-		mVertexStride = stride;
-		mNormalEpsilon = btScalar(0.001);
-		mMaxVertices = 4096;
-	}
-
-	bool HasHullFlag(HullFlag flag) const
-	{
-		if (mFlags & flag) return true;
-		return false;
-	}
-
-	void SetHullFlag(HullFlag flag)
-	{
-		mFlags |= flag;
-	}
-
-	void ClearHullFlag(HullFlag flag)
-	{
-		mFlags &= ~flag;
-	}
-
-	unsigned int mFlags;         // flags to use when generating the convex hull.
-	unsigned int mVcount;        // number of vertices in the input point cloud
-	const btVector3* mVertices;  // the array of vertices.
-	unsigned int mVertexStride;  // the stride of each vertex, in bytes.
-	btScalar mNormalEpsilon;     // the epsilon for removing duplicates.  This is a normalized value, if normalized bit is on.
-	unsigned int mMaxVertices;   // maximum number of vertices to be considered for the hull!
-	unsigned int mMaxFaces;
-};
-
-enum HullError
-{
-	QE_OK,   // success!
-	QE_FAIL  // failed.
-};
-
-class btPlane
-{
-public:
-	btVector3 normal;
-	btScalar dist;  // distance below origin - the D from plane equasion Ax+By+Cz+D=0
-	btPlane(const btVector3& n, btScalar d) : normal(n), dist(d) {}
-	btPlane() : normal(), dist(0) {}
-};
-
-class ConvexH
-{
-public:
-	class HalfEdge
-	{
-	public:
-		short ea;         // the other half of the edge (index into edges list)
-		unsigned char v;  // the vertex at the start of this edge (index into vertices list)
-		unsigned char p;  // the facet on which this edge lies (index into facets list)
-		HalfEdge() {}
-		HalfEdge(short _ea, unsigned char _v, unsigned char _p) : ea(_ea), v(_v), p(_p) {}
-	};
-	ConvexH()
-	{
-	}
-	~ConvexH()
-	{
-	}
-	btAlignedObjectArray<btVector3> vertices;
-	btAlignedObjectArray<HalfEdge> edges;
-	btAlignedObjectArray<btPlane> facets;
-	ConvexH(int vertices_size, int edges_size, int facets_size);
-};
-
-class int4
-{
-public:
-	int x, y, z, w;
-	int4(){};
-	int4(int _x, int _y, int _z, int _w)
-	{
-		x = _x;
-		y = _y;
-		z = _z;
-		w = _w;
-	}
-	const int& operator[](int i) const { return (&x)[i]; }
-	int& operator[](int i) { return (&x)[i]; }
-};
-
-class PHullResult
-{
-public:
-	PHullResult(void)
-	{
-		mVcount = 0;
-		mIndexCount = 0;
-		mFaceCount = 0;
-		mVertices = 0;
-	}
-
-	unsigned int mVcount;
-	unsigned int mIndexCount;
-	unsigned int mFaceCount;
-	btVector3* mVertices;
-	TUIntArray m_Indices;
-};
-
-///The HullLibrary class can create a convex hull from a collection of vertices, using the ComputeHull method.
-///The btShapeHull class uses this HullLibrary to create a approximate convex mesh given a general (non-polyhedral) convex shape.
-class HullLibrary
-{
-	btAlignedObjectArray<class btHullTriangle*> m_tris;
-
-public:
-	btAlignedObjectArray<int> m_vertexIndexMapping;
-
-	HullError CreateConvexHull(const HullDesc& desc,  // describes the input request
-							   HullResult& result);   // contains the resulst
-	HullError ReleaseResult(HullResult& result);      // release memory allocated for this result, we are done with it.
-
-private:
-	bool ComputeHull(unsigned int vcount, const btVector3* vertices, PHullResult& result, unsigned int vlimit);
-
-	class btHullTriangle* allocateTriangle(int a, int b, int c);
-	void deAllocateTriangle(btHullTriangle*);
-	void b2bfix(btHullTriangle* s, btHullTriangle* t);
-
-	void removeb2b(btHullTriangle* s, btHullTriangle* t);
-
-	void checkit(btHullTriangle* t);
-
-	btHullTriangle* extrudable(btScalar epsilon);
-
-	int calchull(btVector3* verts, int verts_count, TUIntArray& tris_out, int& tris_count, int vlimit);
-
-	int calchullgen(btVector3* verts, int verts_count, int vlimit);
-
-	int4 FindSimplex(btVector3* verts, int verts_count, btAlignedObjectArray<int>& allow);
-
-	class ConvexH* ConvexHCrop(ConvexH& convex, const btPlane& slice);
-
-	void extrude(class btHullTriangle* t0, int v);
-
-	ConvexH* test_cube();
-
-	//BringOutYourDead (John Ratcliff): When you create a convex hull you hand it a large input set of vertices forming a 'point cloud'.
-	//After the hull is generated it give you back a set of polygon faces which index the *original* point cloud.
-	//The thing is, often times, there are many 'dead vertices' in the point cloud that are on longer referenced by the hull.
-	//The routine 'BringOutYourDead' find only the referenced vertices, copies them to an new buffer, and re-indexes the hull so that it is a minimal representation.
-	void BringOutYourDead(const btVector3* verts, unsigned int vcount, btVector3* overts, unsigned int& ocount, unsigned int* indices, unsigned indexcount);
-
-	bool CleanupVertices(unsigned int svcount,
-						 const btVector3* svertices,
-						 unsigned int stride,
-						 unsigned int& vcount,  // output number of vertices
-						 btVector3* vertices,   // location to store the results.
-						 btScalar normalepsilon,
-						 btVector3& scale);
-};
-
-#endif  //BT_CD_HULL_H
diff --git a/thirdparty/bullet/LinearMath/btConvexHullComputer.cpp b/thirdparty/bullet/LinearMath/btConvexHullComputer.cpp
deleted file mode 100644
index 12125fd2de..0000000000
--- a/thirdparty/bullet/LinearMath/btConvexHullComputer.cpp
+++ /dev/null
@@ -1,2760 +0,0 @@
-/*
-Copyright (c) 2011 Ole Kniemeyer, MAXON, www.maxon.net
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include <string.h>
-
-#include "btConvexHullComputer.h"
-#include "btAlignedObjectArray.h"
-#include "btMinMax.h"
-#include "btVector3.h"
-
-#ifdef __GNUC__
-#include <stdint.h>
-#elif defined(_MSC_VER)
-typedef __int32 int32_t;
-typedef __int64 int64_t;
-typedef unsigned __int32 uint32_t;
-typedef unsigned __int64 uint64_t;
-#else
-typedef int int32_t;
-typedef long long int int64_t;
-typedef unsigned int uint32_t;
-typedef unsigned long long int uint64_t;
-#endif
-
-//The definition of USE_X86_64_ASM is moved into the build system. You can enable it manually by commenting out the following lines
-//#if (defined(__GNUC__) && defined(__x86_64__) && !defined(__ICL))  // || (defined(__ICL) && defined(_M_X64))   bug in Intel compiler, disable inline assembly
-//	#define USE_X86_64_ASM
-//#endif
-
-//#define DEBUG_CONVEX_HULL
-//#define SHOW_ITERATIONS
-
-#if defined(DEBUG_CONVEX_HULL) || defined(SHOW_ITERATIONS)
-#include <stdio.h>
-#endif
-
-// Convex hull implementation based on Preparata and Hong
-// Ole Kniemeyer, MAXON Computer GmbH
-class btConvexHullInternal
-{
-public:
-	class Point64
-	{
-	public:
-		int64_t x;
-		int64_t y;
-		int64_t z;
-
-		Point64(int64_t x, int64_t y, int64_t z) : x(x), y(y), z(z)
-		{
-		}
-
-		bool isZero()
-		{
-			return (x == 0) && (y == 0) && (z == 0);
-		}
-
-		int64_t dot(const Point64& b) const
-		{
-			return x * b.x + y * b.y + z * b.z;
-		}
-	};
-
-	class Point32
-	{
-	public:
-		int32_t x;
-		int32_t y;
-		int32_t z;
-		int index;
-
-		Point32()
-		{
-		}
-
-		Point32(int32_t x, int32_t y, int32_t z) : x(x), y(y), z(z), index(-1)
-		{
-		}
-
-		bool operator==(const Point32& b) const
-		{
-			return (x == b.x) && (y == b.y) && (z == b.z);
-		}
-
-		bool operator!=(const Point32& b) const
-		{
-			return (x != b.x) || (y != b.y) || (z != b.z);
-		}
-
-		bool isZero()
-		{
-			return (x == 0) && (y == 0) && (z == 0);
-		}
-
-		Point64 cross(const Point32& b) const
-		{
-			return Point64(((int64_t)y) * b.z - ((int64_t)z) * b.y, ((int64_t)z) * b.x - ((int64_t)x) * b.z, ((int64_t)x) * b.y - ((int64_t)y) * b.x);
-		}
-
-		Point64 cross(const Point64& b) const
-		{
-			return Point64(y * b.z - z * b.y, z * b.x - x * b.z, x * b.y - y * b.x);
-		}
-
-		int64_t dot(const Point32& b) const
-		{
-			return ((int64_t)x) * b.x + ((int64_t)y) * b.y + ((int64_t)z) * b.z;
-		}
-
-		int64_t dot(const Point64& b) const
-		{
-			return x * b.x + y * b.y + z * b.z;
-		}
-
-		Point32 operator+(const Point32& b) const
-		{
-			return Point32(x + b.x, y + b.y, z + b.z);
-		}
-
-		Point32 operator-(const Point32& b) const
-		{
-			return Point32(x - b.x, y - b.y, z - b.z);
-		}
-	};
-
-	class Int128
-	{
-	public:
-		uint64_t low;
-		uint64_t high;
-
-		Int128()
-		{
-		}
-
-		Int128(uint64_t low, uint64_t high) : low(low), high(high)
-		{
-		}
-
-		Int128(uint64_t low) : low(low), high(0)
-		{
-		}
-
-		Int128(int64_t value) : low(value), high((value >= 0) ? 0 : (uint64_t)-1LL)
-		{
-		}
-
-		static Int128 mul(int64_t a, int64_t b);
-
-		static Int128 mul(uint64_t a, uint64_t b);
-
-		Int128 operator-() const
-		{
-			return Int128((uint64_t) - (int64_t)low, ~high + (low == 0));
-		}
-
-		Int128 operator+(const Int128& b) const
-		{
-#ifdef USE_X86_64_ASM
-			Int128 result;
-			__asm__(
-				"addq %[bl], %[rl]\n\t"
-				"adcq %[bh], %[rh]\n\t"
-				: [rl] "=r"(result.low), [rh] "=r"(result.high)
-				: "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high)
-				: "cc");
-			return result;
-#else
-			uint64_t lo = low + b.low;
-			return Int128(lo, high + b.high + (lo < low));
-#endif
-		}
-
-		Int128 operator-(const Int128& b) const
-		{
-#ifdef USE_X86_64_ASM
-			Int128 result;
-			__asm__(
-				"subq %[bl], %[rl]\n\t"
-				"sbbq %[bh], %[rh]\n\t"
-				: [rl] "=r"(result.low), [rh] "=r"(result.high)
-				: "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high)
-				: "cc");
-			return result;
-#else
-			return *this + -b;
-#endif
-		}
-
-		Int128& operator+=(const Int128& b)
-		{
-#ifdef USE_X86_64_ASM
-			__asm__(
-				"addq %[bl], %[rl]\n\t"
-				"adcq %[bh], %[rh]\n\t"
-				: [rl] "=r"(low), [rh] "=r"(high)
-				: "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high)
-				: "cc");
-#else
-			uint64_t lo = low + b.low;
-			if (lo < low)
-			{
-				++high;
-			}
-			low = lo;
-			high += b.high;
-#endif
-			return *this;
-		}
-
-		Int128& operator++()
-		{
-			if (++low == 0)
-			{
-				++high;
-			}
-			return *this;
-		}
-
-		Int128 operator*(int64_t b) const;
-
-		btScalar toScalar() const
-		{
-			return ((int64_t)high >= 0) ? btScalar(high) * (btScalar(0x100000000LL) * btScalar(0x100000000LL)) + btScalar(low)
-										: -(-*this).toScalar();
-		}
-
-		int getSign() const
-		{
-			return ((int64_t)high < 0) ? -1 : (high || low) ? 1 : 0;
-		}
-
-		bool operator<(const Int128& b) const
-		{
-			return (high < b.high) || ((high == b.high) && (low < b.low));
-		}
-
-		int ucmp(const Int128& b) const
-		{
-			if (high < b.high)
-			{
-				return -1;
-			}
-			if (high > b.high)
-			{
-				return 1;
-			}
-			if (low < b.low)
-			{
-				return -1;
-			}
-			if (low > b.low)
-			{
-				return 1;
-			}
-			return 0;
-		}
-	};
-
-	class Rational64
-	{
-	private:
-		uint64_t m_numerator;
-		uint64_t m_denominator;
-		int sign;
-
-	public:
-		Rational64(int64_t numerator, int64_t denominator)
-		{
-			if (numerator > 0)
-			{
-				sign = 1;
-				m_numerator = (uint64_t)numerator;
-			}
-			else if (numerator < 0)
-			{
-				sign = -1;
-				m_numerator = (uint64_t)-numerator;
-			}
-			else
-			{
-				sign = 0;
-				m_numerator = 0;
-			}
-			if (denominator > 0)
-			{
-				m_denominator = (uint64_t)denominator;
-			}
-			else if (denominator < 0)
-			{
-				sign = -sign;
-				m_denominator = (uint64_t)-denominator;
-			}
-			else
-			{
-				m_denominator = 0;
-			}
-		}
-
-		bool isNegativeInfinity() const
-		{
-			return (sign < 0) && (m_denominator == 0);
-		}
-
-		bool isNaN() const
-		{
-			return (sign == 0) && (m_denominator == 0);
-		}
-
-		int compare(const Rational64& b) const;
-
-		btScalar toScalar() const
-		{
-			return sign * ((m_denominator == 0) ? SIMD_INFINITY : (btScalar)m_numerator / m_denominator);
-		}
-	};
-
-	class Rational128
-	{
-	private:
-		Int128 numerator;
-		Int128 denominator;
-		int sign;
-		bool isInt64;
-
-	public:
-		Rational128(int64_t value)
-		{
-			if (value > 0)
-			{
-				sign = 1;
-				this->numerator = value;
-			}
-			else if (value < 0)
-			{
-				sign = -1;
-				this->numerator = -value;
-			}
-			else
-			{
-				sign = 0;
-				this->numerator = (uint64_t)0;
-			}
-			this->denominator = (uint64_t)1;
-			isInt64 = true;
-		}
-
-		Rational128(const Int128& numerator, const Int128& denominator)
-		{
-			sign = numerator.getSign();
-			if (sign >= 0)
-			{
-				this->numerator = numerator;
-			}
-			else
-			{
-				this->numerator = -numerator;
-			}
-			int dsign = denominator.getSign();
-			if (dsign >= 0)
-			{
-				this->denominator = denominator;
-			}
-			else
-			{
-				sign = -sign;
-				this->denominator = -denominator;
-			}
-			isInt64 = false;
-		}
-
-		int compare(const Rational128& b) const;
-
-		int compare(int64_t b) const;
-
-		btScalar toScalar() const
-		{
-			return sign * ((denominator.getSign() == 0) ? SIMD_INFINITY : numerator.toScalar() / denominator.toScalar());
-		}
-	};
-
-	class PointR128
-	{
-	public:
-		Int128 x;
-		Int128 y;
-		Int128 z;
-		Int128 denominator;
-
-		PointR128()
-		{
-		}
-
-		PointR128(Int128 x, Int128 y, Int128 z, Int128 denominator) : x(x), y(y), z(z), denominator(denominator)
-		{
-		}
-
-		btScalar xvalue() const
-		{
-			return x.toScalar() / denominator.toScalar();
-		}
-
-		btScalar yvalue() const
-		{
-			return y.toScalar() / denominator.toScalar();
-		}
-
-		btScalar zvalue() const
-		{
-			return z.toScalar() / denominator.toScalar();
-		}
-	};
-
-	class Edge;
-	class Face;
-
-	class Vertex
-	{
-	public:
-		Vertex* next;
-		Vertex* prev;
-		Edge* edges;
-		Face* firstNearbyFace;
-		Face* lastNearbyFace;
-		PointR128 point128;
-		Point32 point;
-		int copy;
-
-		Vertex() : next(NULL), prev(NULL), edges(NULL), firstNearbyFace(NULL), lastNearbyFace(NULL), copy(-1)
-		{
-		}
-
-#ifdef DEBUG_CONVEX_HULL
-		void print()
-		{
-			printf("V%d (%d, %d, %d)", point.index, point.x, point.y, point.z);
-		}
-
-		void printGraph();
-#endif
-
-		Point32 operator-(const Vertex& b) const
-		{
-			return point - b.point;
-		}
-
-		Rational128 dot(const Point64& b) const
-		{
-			return (point.index >= 0) ? Rational128(point.dot(b))
-									  : Rational128(point128.x * b.x + point128.y * b.y + point128.z * b.z, point128.denominator);
-		}
-
-		btScalar xvalue() const
-		{
-			return (point.index >= 0) ? btScalar(point.x) : point128.xvalue();
-		}
-
-		btScalar yvalue() const
-		{
-			return (point.index >= 0) ? btScalar(point.y) : point128.yvalue();
-		}
-
-		btScalar zvalue() const
-		{
-			return (point.index >= 0) ? btScalar(point.z) : point128.zvalue();
-		}
-
-		void receiveNearbyFaces(Vertex* src)
-		{
-			if (lastNearbyFace)
-			{
-				lastNearbyFace->nextWithSameNearbyVertex = src->firstNearbyFace;
-			}
-			else
-			{
-				firstNearbyFace = src->firstNearbyFace;
-			}
-			if (src->lastNearbyFace)
-			{
-				lastNearbyFace = src->lastNearbyFace;
-			}
-			for (Face* f = src->firstNearbyFace; f; f = f->nextWithSameNearbyVertex)
-			{
-				btAssert(f->nearbyVertex == src);
-				f->nearbyVertex = this;
-			}
-			src->firstNearbyFace = NULL;
-			src->lastNearbyFace = NULL;
-		}
-	};
-
-	class Edge
-	{
-	public:
-		Edge* next;
-		Edge* prev;
-		Edge* reverse;
-		Vertex* target;
-		Face* face;
-		int copy;
-
-		~Edge()
-		{
-			next = NULL;
-			prev = NULL;
-			reverse = NULL;
-			target = NULL;
-			face = NULL;
-		}
-
-		void link(Edge* n)
-		{
-			btAssert(reverse->target == n->reverse->target);
-			next = n;
-			n->prev = this;
-		}
-
-#ifdef DEBUG_CONVEX_HULL
-		void print()
-		{
-			printf("E%p : %d -> %d,  n=%p p=%p   (0 %d\t%d\t%d) -> (%d %d %d)", this, reverse->target->point.index, target->point.index, next, prev,
-				   reverse->target->point.x, reverse->target->point.y, reverse->target->point.z, target->point.x, target->point.y, target->point.z);
-		}
-#endif
-	};
-
-	class Face
-	{
-	public:
-		Face* next;
-		Vertex* nearbyVertex;
-		Face* nextWithSameNearbyVertex;
-		Point32 origin;
-		Point32 dir0;
-		Point32 dir1;
-
-		Face() : next(NULL), nearbyVertex(NULL), nextWithSameNearbyVertex(NULL)
-		{
-		}
-
-		void init(Vertex* a, Vertex* b, Vertex* c)
-		{
-			nearbyVertex = a;
-			origin = a->point;
-			dir0 = *b - *a;
-			dir1 = *c - *a;
-			if (a->lastNearbyFace)
-			{
-				a->lastNearbyFace->nextWithSameNearbyVertex = this;
-			}
-			else
-			{
-				a->firstNearbyFace = this;
-			}
-			a->lastNearbyFace = this;
-		}
-
-		Point64 getNormal()
-		{
-			return dir0.cross(dir1);
-		}
-	};
-
-	template <typename UWord, typename UHWord>
-	class DMul
-	{
-	private:
-		static uint32_t high(uint64_t value)
-		{
-			return (uint32_t)(value >> 32);
-		}
-
-		static uint32_t low(uint64_t value)
-		{
-			return (uint32_t)value;
-		}
-
-		static uint64_t mul(uint32_t a, uint32_t b)
-		{
-			return (uint64_t)a * (uint64_t)b;
-		}
-
-		static void shlHalf(uint64_t& value)
-		{
-			value <<= 32;
-		}
-
-		static uint64_t high(Int128 value)
-		{
-			return value.high;
-		}
-
-		static uint64_t low(Int128 value)
-		{
-			return value.low;
-		}
-
-		static Int128 mul(uint64_t a, uint64_t b)
-		{
-			return Int128::mul(a, b);
-		}
-
-		static void shlHalf(Int128& value)
-		{
-			value.high = value.low;
-			value.low = 0;
-		}
-
-	public:
-		static void mul(UWord a, UWord b, UWord& resLow, UWord& resHigh)
-		{
-			UWord p00 = mul(low(a), low(b));
-			UWord p01 = mul(low(a), high(b));
-			UWord p10 = mul(high(a), low(b));
-			UWord p11 = mul(high(a), high(b));
-			UWord p0110 = UWord(low(p01)) + UWord(low(p10));
-			p11 += high(p01);
-			p11 += high(p10);
-			p11 += high(p0110);
-			shlHalf(p0110);
-			p00 += p0110;
-			if (p00 < p0110)
-			{
-				++p11;
-			}
-			resLow = p00;
-			resHigh = p11;
-		}
-	};
-
-private:
-	class IntermediateHull
-	{
-	public:
-		Vertex* minXy;
-		Vertex* maxXy;
-		Vertex* minYx;
-		Vertex* maxYx;
-
-		IntermediateHull() : minXy(NULL), maxXy(NULL), minYx(NULL), maxYx(NULL)
-		{
-		}
-
-		void print();
-	};
-
-	enum Orientation
-	{
-		NONE,
-		CLOCKWISE,
-		COUNTER_CLOCKWISE
-	};
-
-	template <typename T>
-	class PoolArray
-	{
-	private:
-		T* array;
-		int size;
-
-	public:
-		PoolArray<T>* next;
-
-		PoolArray(int size) : size(size), next(NULL)
-		{
-			array = (T*)btAlignedAlloc(sizeof(T) * size, 16);
-		}
-
-		~PoolArray()
-		{
-			btAlignedFree(array);
-		}
-
-		T* init()
-		{
-			T* o = array;
-			for (int i = 0; i < size; i++, o++)
-			{
-				o->next = (i + 1 < size) ? o + 1 : NULL;
-			}
-			return array;
-		}
-	};
-
-	template <typename T>
-	class Pool
-	{
-	private:
-		PoolArray<T>* arrays;
-		PoolArray<T>* nextArray;
-		T* freeObjects;
-		int arraySize;
-
-	public:
-		Pool() : arrays(NULL), nextArray(NULL), freeObjects(NULL), arraySize(256)
-		{
-		}
-
-		~Pool()
-		{
-			while (arrays)
-			{
-				PoolArray<T>* p = arrays;
-				arrays = p->next;
-				p->~PoolArray<T>();
-				btAlignedFree(p);
-			}
-		}
-
-		void reset()
-		{
-			nextArray = arrays;
-			freeObjects = NULL;
-		}
-
-		void setArraySize(int arraySize)
-		{
-			this->arraySize = arraySize;
-		}
-
-		T* newObject()
-		{
-			T* o = freeObjects;
-			if (!o)
-			{
-				PoolArray<T>* p = nextArray;
-				if (p)
-				{
-					nextArray = p->next;
-				}
-				else
-				{
-					p = new (btAlignedAlloc(sizeof(PoolArray<T>), 16)) PoolArray<T>(arraySize);
-					p->next = arrays;
-					arrays = p;
-				}
-				o = p->init();
-			}
-			freeObjects = o->next;
-			return new (o) T();
-		};
-
-		void freeObject(T* object)
-		{
-			object->~T();
-			object->next = freeObjects;
-			freeObjects = object;
-		}
-	};
-
-	btVector3 scaling;
-	btVector3 center;
-	Pool<Vertex> vertexPool;
-	Pool<Edge> edgePool;
-	Pool<Face> facePool;
-	btAlignedObjectArray<Vertex*> originalVertices;
-	int mergeStamp;
-	int minAxis;
-	int medAxis;
-	int maxAxis;
-	int usedEdgePairs;
-	int maxUsedEdgePairs;
-
-	static Orientation getOrientation(const Edge* prev, const Edge* next, const Point32& s, const Point32& t);
-	Edge* findMaxAngle(bool ccw, const Vertex* start, const Point32& s, const Point64& rxs, const Point64& sxrxs, Rational64& minCot);
-	void findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge*& e0, Edge*& e1, Vertex* stop0, Vertex* stop1);
-
-	Edge* newEdgePair(Vertex* from, Vertex* to);
-
-	void removeEdgePair(Edge* edge)
-	{
-		Edge* n = edge->next;
-		Edge* r = edge->reverse;
-
-		btAssert(edge->target && r->target);
-
-		if (n != edge)
-		{
-			n->prev = edge->prev;
-			edge->prev->next = n;
-			r->target->edges = n;
-		}
-		else
-		{
-			r->target->edges = NULL;
-		}
-
-		n = r->next;
-
-		if (n != r)
-		{
-			n->prev = r->prev;
-			r->prev->next = n;
-			edge->target->edges = n;
-		}
-		else
-		{
-			edge->target->edges = NULL;
-		}
-
-		edgePool.freeObject(edge);
-		edgePool.freeObject(r);
-		usedEdgePairs--;
-	}
-
-	void computeInternal(int start, int end, IntermediateHull& result);
-
-	bool mergeProjection(IntermediateHull& h0, IntermediateHull& h1, Vertex*& c0, Vertex*& c1);
-
-	void merge(IntermediateHull& h0, IntermediateHull& h1);
-
-	btVector3 toBtVector(const Point32& v);
-
-	btVector3 getBtNormal(Face* face);
-
-	bool shiftFace(Face* face, btScalar amount, btAlignedObjectArray<Vertex*> stack);
-
-public:
-	Vertex* vertexList;
-
-	void compute(const void* coords, bool doubleCoords, int stride, int count);
-
-	btVector3 getCoordinates(const Vertex* v);
-
-	btScalar shrink(btScalar amount, btScalar clampAmount);
-};
-
-btConvexHullInternal::Int128 btConvexHullInternal::Int128::operator*(int64_t b) const
-{
-	bool negative = (int64_t)high < 0;
-	Int128 a = negative ? -*this : *this;
-	if (b < 0)
-	{
-		negative = !negative;
-		b = -b;
-	}
-	Int128 result = mul(a.low, (uint64_t)b);
-	result.high += a.high * (uint64_t)b;
-	return negative ? -result : result;
-}
-
-btConvexHullInternal::Int128 btConvexHullInternal::Int128::mul(int64_t a, int64_t b)
-{
-	Int128 result;
-
-#ifdef USE_X86_64_ASM
-	__asm__("imulq %[b]"
-			: "=a"(result.low), "=d"(result.high)
-			: "0"(a), [b] "r"(b)
-			: "cc");
-	return result;
-
-#else
-	bool negative = a < 0;
-	if (negative)
-	{
-		a = -a;
-	}
-	if (b < 0)
-	{
-		negative = !negative;
-		b = -b;
-	}
-	DMul<uint64_t, uint32_t>::mul((uint64_t)a, (uint64_t)b, result.low, result.high);
-	return negative ? -result : result;
-#endif
-}
-
-btConvexHullInternal::Int128 btConvexHullInternal::Int128::mul(uint64_t a, uint64_t b)
-{
-	Int128 result;
-
-#ifdef USE_X86_64_ASM
-	__asm__("mulq %[b]"
-			: "=a"(result.low), "=d"(result.high)
-			: "0"(a), [b] "r"(b)
-			: "cc");
-
-#else
-	DMul<uint64_t, uint32_t>::mul(a, b, result.low, result.high);
-#endif
-
-	return result;
-}
-
-int btConvexHullInternal::Rational64::compare(const Rational64& b) const
-{
-	if (sign != b.sign)
-	{
-		return sign - b.sign;
-	}
-	else if (sign == 0)
-	{
-		return 0;
-	}
-
-	//	return (numerator * b.denominator > b.numerator * denominator) ? sign : (numerator * b.denominator < b.numerator * denominator) ? -sign : 0;
-
-#ifdef USE_X86_64_ASM
-
-	int result;
-	int64_t tmp;
-	int64_t dummy;
-	__asm__(
-		"mulq %[bn]\n\t"
-		"movq %%rax, %[tmp]\n\t"
-		"movq %%rdx, %%rbx\n\t"
-		"movq %[tn], %%rax\n\t"
-		"mulq %[bd]\n\t"
-		"subq %[tmp], %%rax\n\t"
-		"sbbq %%rbx, %%rdx\n\t"  // rdx:rax contains 128-bit-difference "numerator*b.denominator - b.numerator*denominator"
-		"setnsb %%bh\n\t"        // bh=1 if difference is non-negative, bh=0 otherwise
-		"orq %%rdx, %%rax\n\t"
-		"setnzb %%bl\n\t"      // bl=1 if difference if non-zero, bl=0 if it is zero
-		"decb %%bh\n\t"        // now bx=0x0000 if difference is zero, 0xff01 if it is negative, 0x0001 if it is positive (i.e., same sign as difference)
-		"shll $16, %%ebx\n\t"  // ebx has same sign as difference
-		: "=&b"(result), [tmp] "=&r"(tmp), "=a"(dummy)
-		: "a"(m_denominator), [bn] "g"(b.m_numerator), [tn] "g"(m_numerator), [bd] "g"(b.m_denominator)
-		: "%rdx", "cc");
-	return result ? result ^ sign  // if sign is +1, only bit 0 of result is inverted, which does not change the sign of result (and cannot result in zero)
-								   // if sign is -1, all bits of result are inverted, which changes the sign of result (and again cannot result in zero)
-				  : 0;
-
-#else
-
-	return sign * Int128::mul(m_numerator, b.m_denominator).ucmp(Int128::mul(m_denominator, b.m_numerator));
-
-#endif
-}
-
-int btConvexHullInternal::Rational128::compare(const Rational128& b) const
-{
-	if (sign != b.sign)
-	{
-		return sign - b.sign;
-	}
-	else if (sign == 0)
-	{
-		return 0;
-	}
-	if (isInt64)
-	{
-		return -b.compare(sign * (int64_t)numerator.low);
-	}
-
-	Int128 nbdLow, nbdHigh, dbnLow, dbnHigh;
-	DMul<Int128, uint64_t>::mul(numerator, b.denominator, nbdLow, nbdHigh);
-	DMul<Int128, uint64_t>::mul(denominator, b.numerator, dbnLow, dbnHigh);
-
-	int cmp = nbdHigh.ucmp(dbnHigh);
-	if (cmp)
-	{
-		return cmp * sign;
-	}
-	return nbdLow.ucmp(dbnLow) * sign;
-}
-
-int btConvexHullInternal::Rational128::compare(int64_t b) const
-{
-	if (isInt64)
-	{
-		int64_t a = sign * (int64_t)numerator.low;
-		return (a > b) ? 1 : (a < b) ? -1 : 0;
-	}
-	if (b > 0)
-	{
-		if (sign <= 0)
-		{
-			return -1;
-		}
-	}
-	else if (b < 0)
-	{
-		if (sign >= 0)
-		{
-			return 1;
-		}
-		b = -b;
-	}
-	else
-	{
-		return sign;
-	}
-
-	return numerator.ucmp(denominator * b) * sign;
-}
-
-btConvexHullInternal::Edge* btConvexHullInternal::newEdgePair(Vertex* from, Vertex* to)
-{
-	btAssert(from && to);
-	Edge* e = edgePool.newObject();
-	Edge* r = edgePool.newObject();
-	e->reverse = r;
-	r->reverse = e;
-	e->copy = mergeStamp;
-	r->copy = mergeStamp;
-	e->target = to;
-	r->target = from;
-	e->face = NULL;
-	r->face = NULL;
-	usedEdgePairs++;
-	if (usedEdgePairs > maxUsedEdgePairs)
-	{
-		maxUsedEdgePairs = usedEdgePairs;
-	}
-	return e;
-}
-
-bool btConvexHullInternal::mergeProjection(IntermediateHull& h0, IntermediateHull& h1, Vertex*& c0, Vertex*& c1)
-{
-	Vertex* v0 = h0.maxYx;
-	Vertex* v1 = h1.minYx;
-	if ((v0->point.x == v1->point.x) && (v0->point.y == v1->point.y))
-	{
-		btAssert(v0->point.z < v1->point.z);
-		Vertex* v1p = v1->prev;
-		if (v1p == v1)
-		{
-			c0 = v0;
-			if (v1->edges)
-			{
-				btAssert(v1->edges->next == v1->edges);
-				v1 = v1->edges->target;
-				btAssert(v1->edges->next == v1->edges);
-			}
-			c1 = v1;
-			return false;
-		}
-		Vertex* v1n = v1->next;
-		v1p->next = v1n;
-		v1n->prev = v1p;
-		if (v1 == h1.minXy)
-		{
-			if ((v1n->point.x < v1p->point.x) || ((v1n->point.x == v1p->point.x) && (v1n->point.y < v1p->point.y)))
-			{
-				h1.minXy = v1n;
-			}
-			else
-			{
-				h1.minXy = v1p;
-			}
-		}
-		if (v1 == h1.maxXy)
-		{
-			if ((v1n->point.x > v1p->point.x) || ((v1n->point.x == v1p->point.x) && (v1n->point.y > v1p->point.y)))
-			{
-				h1.maxXy = v1n;
-			}
-			else
-			{
-				h1.maxXy = v1p;
-			}
-		}
-	}
-
-	v0 = h0.maxXy;
-	v1 = h1.maxXy;
-	Vertex* v00 = NULL;
-	Vertex* v10 = NULL;
-	int32_t sign = 1;
-
-	for (int side = 0; side <= 1; side++)
-	{
-		int32_t dx = (v1->point.x - v0->point.x) * sign;
-		if (dx > 0)
-		{
-			while (true)
-			{
-				int32_t dy = v1->point.y - v0->point.y;
-
-				Vertex* w0 = side ? v0->next : v0->prev;
-				if (w0 != v0)
-				{
-					int32_t dx0 = (w0->point.x - v0->point.x) * sign;
-					int32_t dy0 = w0->point.y - v0->point.y;
-					if ((dy0 <= 0) && ((dx0 == 0) || ((dx0 < 0) && (dy0 * dx <= dy * dx0))))
-					{
-						v0 = w0;
-						dx = (v1->point.x - v0->point.x) * sign;
-						continue;
-					}
-				}
-
-				Vertex* w1 = side ? v1->next : v1->prev;
-				if (w1 != v1)
-				{
-					int32_t dx1 = (w1->point.x - v1->point.x) * sign;
-					int32_t dy1 = w1->point.y - v1->point.y;
-					int32_t dxn = (w1->point.x - v0->point.x) * sign;
-					if ((dxn > 0) && (dy1 < 0) && ((dx1 == 0) || ((dx1 < 0) && (dy1 * dx < dy * dx1))))
-					{
-						v1 = w1;
-						dx = dxn;
-						continue;
-					}
-				}
-
-				break;
-			}
-		}
-		else if (dx < 0)
-		{
-			while (true)
-			{
-				int32_t dy = v1->point.y - v0->point.y;
-
-				Vertex* w1 = side ? v1->prev : v1->next;
-				if (w1 != v1)
-				{
-					int32_t dx1 = (w1->point.x - v1->point.x) * sign;
-					int32_t dy1 = w1->point.y - v1->point.y;
-					if ((dy1 >= 0) && ((dx1 == 0) || ((dx1 < 0) && (dy1 * dx <= dy * dx1))))
-					{
-						v1 = w1;
-						dx = (v1->point.x - v0->point.x) * sign;
-						continue;
-					}
-				}
-
-				Vertex* w0 = side ? v0->prev : v0->next;
-				if (w0 != v0)
-				{
-					int32_t dx0 = (w0->point.x - v0->point.x) * sign;
-					int32_t dy0 = w0->point.y - v0->point.y;
-					int32_t dxn = (v1->point.x - w0->point.x) * sign;
-					if ((dxn < 0) && (dy0 > 0) && ((dx0 == 0) || ((dx0 < 0) && (dy0 * dx < dy * dx0))))
-					{
-						v0 = w0;
-						dx = dxn;
-						continue;
-					}
-				}
-
-				break;
-			}
-		}
-		else
-		{
-			int32_t x = v0->point.x;
-			int32_t y0 = v0->point.y;
-			Vertex* w0 = v0;
-			Vertex* t;
-			while (((t = side ? w0->next : w0->prev) != v0) && (t->point.x == x) && (t->point.y <= y0))
-			{
-				w0 = t;
-				y0 = t->point.y;
-			}
-			v0 = w0;
-
-			int32_t y1 = v1->point.y;
-			Vertex* w1 = v1;
-			while (((t = side ? w1->prev : w1->next) != v1) && (t->point.x == x) && (t->point.y >= y1))
-			{
-				w1 = t;
-				y1 = t->point.y;
-			}
-			v1 = w1;
-		}
-
-		if (side == 0)
-		{
-			v00 = v0;
-			v10 = v1;
-
-			v0 = h0.minXy;
-			v1 = h1.minXy;
-			sign = -1;
-		}
-	}
-
-	v0->prev = v1;
-	v1->next = v0;
-
-	v00->next = v10;
-	v10->prev = v00;
-
-	if (h1.minXy->point.x < h0.minXy->point.x)
-	{
-		h0.minXy = h1.minXy;
-	}
-	if (h1.maxXy->point.x >= h0.maxXy->point.x)
-	{
-		h0.maxXy = h1.maxXy;
-	}
-
-	h0.maxYx = h1.maxYx;
-
-	c0 = v00;
-	c1 = v10;
-
-	return true;
-}
-
-void btConvexHullInternal::computeInternal(int start, int end, IntermediateHull& result)
-{
-	int n = end - start;
-	switch (n)
-	{
-		case 0:
-			result.minXy = NULL;
-			result.maxXy = NULL;
-			result.minYx = NULL;
-			result.maxYx = NULL;
-			return;
-		case 2:
-		{
-			Vertex* v = originalVertices[start];
-			Vertex* w = v + 1;
-			if (v->point != w->point)
-			{
-				int32_t dx = v->point.x - w->point.x;
-				int32_t dy = v->point.y - w->point.y;
-
-				if ((dx == 0) && (dy == 0))
-				{
-					if (v->point.z > w->point.z)
-					{
-						Vertex* t = w;
-						w = v;
-						v = t;
-					}
-					btAssert(v->point.z < w->point.z);
-					v->next = v;
-					v->prev = v;
-					result.minXy = v;
-					result.maxXy = v;
-					result.minYx = v;
-					result.maxYx = v;
-				}
-				else
-				{
-					v->next = w;
-					v->prev = w;
-					w->next = v;
-					w->prev = v;
-
-					if ((dx < 0) || ((dx == 0) && (dy < 0)))
-					{
-						result.minXy = v;
-						result.maxXy = w;
-					}
-					else
-					{
-						result.minXy = w;
-						result.maxXy = v;
-					}
-
-					if ((dy < 0) || ((dy == 0) && (dx < 0)))
-					{
-						result.minYx = v;
-						result.maxYx = w;
-					}
-					else
-					{
-						result.minYx = w;
-						result.maxYx = v;
-					}
-				}
-
-				Edge* e = newEdgePair(v, w);
-				e->link(e);
-				v->edges = e;
-
-				e = e->reverse;
-				e->link(e);
-				w->edges = e;
-
-				return;
-			}
-			{
-				Vertex* v = originalVertices[start];
-				v->edges = NULL;
-				v->next = v;
-				v->prev = v;
-
-				result.minXy = v;
-				result.maxXy = v;
-				result.minYx = v;
-				result.maxYx = v;
-			}
-
-			return;
-		}
-
-		case 1:
-		{
-			Vertex* v = originalVertices[start];
-			v->edges = NULL;
-			v->next = v;
-			v->prev = v;
-
-			result.minXy = v;
-			result.maxXy = v;
-			result.minYx = v;
-			result.maxYx = v;
-
-			return;
-		}
-	}
-
-	int split0 = start + n / 2;
-	Point32 p = originalVertices[split0 - 1]->point;
-	int split1 = split0;
-	while ((split1 < end) && (originalVertices[split1]->point == p))
-	{
-		split1++;
-	}
-	computeInternal(start, split0, result);
-	IntermediateHull hull1;
-	computeInternal(split1, end, hull1);
-#ifdef DEBUG_CONVEX_HULL
-	printf("\n\nMerge\n");
-	result.print();
-	hull1.print();
-#endif
-	merge(result, hull1);
-#ifdef DEBUG_CONVEX_HULL
-	printf("\n  Result\n");
-	result.print();
-#endif
-}
-
-#ifdef DEBUG_CONVEX_HULL
-void btConvexHullInternal::IntermediateHull::print()
-{
-	printf("    Hull\n");
-	for (Vertex* v = minXy; v;)
-	{
-		printf("      ");
-		v->print();
-		if (v == maxXy)
-		{
-			printf(" maxXy");
-		}
-		if (v == minYx)
-		{
-			printf(" minYx");
-		}
-		if (v == maxYx)
-		{
-			printf(" maxYx");
-		}
-		if (v->next->prev != v)
-		{
-			printf(" Inconsistency");
-		}
-		printf("\n");
-		v = v->next;
-		if (v == minXy)
-		{
-			break;
-		}
-	}
-	if (minXy)
-	{
-		minXy->copy = (minXy->copy == -1) ? -2 : -1;
-		minXy->printGraph();
-	}
-}
-
-void btConvexHullInternal::Vertex::printGraph()
-{
-	print();
-	printf("\nEdges\n");
-	Edge* e = edges;
-	if (e)
-	{
-		do
-		{
-			e->print();
-			printf("\n");
-			e = e->next;
-		} while (e != edges);
-		do
-		{
-			Vertex* v = e->target;
-			if (v->copy != copy)
-			{
-				v->copy = copy;
-				v->printGraph();
-			}
-			e = e->next;
-		} while (e != edges);
-	}
-}
-#endif
-
-btConvexHullInternal::Orientation btConvexHullInternal::getOrientation(const Edge* prev, const Edge* next, const Point32& s, const Point32& t)
-{
-	btAssert(prev->reverse->target == next->reverse->target);
-	if (prev->next == next)
-	{
-		if (prev->prev == next)
-		{
-			Point64 n = t.cross(s);
-			Point64 m = (*prev->target - *next->reverse->target).cross(*next->target - *next->reverse->target);
-			btAssert(!m.isZero());
-			int64_t dot = n.dot(m);
-			btAssert(dot != 0);
-			return (dot > 0) ? COUNTER_CLOCKWISE : CLOCKWISE;
-		}
-		return COUNTER_CLOCKWISE;
-	}
-	else if (prev->prev == next)
-	{
-		return CLOCKWISE;
-	}
-	else
-	{
-		return NONE;
-	}
-}
-
-btConvexHullInternal::Edge* btConvexHullInternal::findMaxAngle(bool ccw, const Vertex* start, const Point32& s, const Point64& rxs, const Point64& sxrxs, Rational64& minCot)
-{
-	Edge* minEdge = NULL;
-
-#ifdef DEBUG_CONVEX_HULL
-	printf("find max edge for %d\n", start->point.index);
-#endif
-	Edge* e = start->edges;
-	if (e)
-	{
-		do
-		{
-			if (e->copy > mergeStamp)
-			{
-				Point32 t = *e->target - *start;
-				Rational64 cot(t.dot(sxrxs), t.dot(rxs));
-#ifdef DEBUG_CONVEX_HULL
-				printf("      Angle is %f (%d) for ", (float)btAtan(cot.toScalar()), (int)cot.isNaN());
-				e->print();
-#endif
-				if (cot.isNaN())
-				{
-					btAssert(ccw ? (t.dot(s) < 0) : (t.dot(s) > 0));
-				}
-				else
-				{
-					int cmp;
-					if (minEdge == NULL)
-					{
-						minCot = cot;
-						minEdge = e;
-					}
-					else if ((cmp = cot.compare(minCot)) < 0)
-					{
-						minCot = cot;
-						minEdge = e;
-					}
-					else if ((cmp == 0) && (ccw == (getOrientation(minEdge, e, s, t) == COUNTER_CLOCKWISE)))
-					{
-						minEdge = e;
-					}
-				}
-#ifdef DEBUG_CONVEX_HULL
-				printf("\n");
-#endif
-			}
-			e = e->next;
-		} while (e != start->edges);
-	}
-	return minEdge;
-}
-
-void btConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge*& e0, Edge*& e1, Vertex* stop0, Vertex* stop1)
-{
-	Edge* start0 = e0;
-	Edge* start1 = e1;
-	Point32 et0 = start0 ? start0->target->point : c0->point;
-	Point32 et1 = start1 ? start1->target->point : c1->point;
-	Point32 s = c1->point - c0->point;
-	Point64 normal = ((start0 ? start0 : start1)->target->point - c0->point).cross(s);
-	int64_t dist = c0->point.dot(normal);
-	btAssert(!start1 || (start1->target->point.dot(normal) == dist));
-	Point64 perp = s.cross(normal);
-	btAssert(!perp.isZero());
-
-#ifdef DEBUG_CONVEX_HULL
-	printf("   Advancing %d %d  (%p %p, %d %d)\n", c0->point.index, c1->point.index, start0, start1, start0 ? start0->target->point.index : -1, start1 ? start1->target->point.index : -1);
-#endif
-
-	int64_t maxDot0 = et0.dot(perp);
-	if (e0)
-	{
-		while (e0->target != stop0)
-		{
-			Edge* e = e0->reverse->prev;
-			if (e->target->point.dot(normal) < dist)
-			{
-				break;
-			}
-			btAssert(e->target->point.dot(normal) == dist);
-			if (e->copy == mergeStamp)
-			{
-				break;
-			}
-			int64_t dot = e->target->point.dot(perp);
-			if (dot <= maxDot0)
-			{
-				break;
-			}
-			maxDot0 = dot;
-			e0 = e;
-			et0 = e->target->point;
-		}
-	}
-
-	int64_t maxDot1 = et1.dot(perp);
-	if (e1)
-	{
-		while (e1->target != stop1)
-		{
-			Edge* e = e1->reverse->next;
-			if (e->target->point.dot(normal) < dist)
-			{
-				break;
-			}
-			btAssert(e->target->point.dot(normal) == dist);
-			if (e->copy == mergeStamp)
-			{
-				break;
-			}
-			int64_t dot = e->target->point.dot(perp);
-			if (dot <= maxDot1)
-			{
-				break;
-			}
-			maxDot1 = dot;
-			e1 = e;
-			et1 = e->target->point;
-		}
-	}
-
-#ifdef DEBUG_CONVEX_HULL
-	printf("   Starting at %d %d\n", et0.index, et1.index);
-#endif
-
-	int64_t dx = maxDot1 - maxDot0;
-	if (dx > 0)
-	{
-		while (true)
-		{
-			int64_t dy = (et1 - et0).dot(s);
-
-			if (e0 && (e0->target != stop0))
-			{
-				Edge* f0 = e0->next->reverse;
-				if (f0->copy > mergeStamp)
-				{
-					int64_t dx0 = (f0->target->point - et0).dot(perp);
-					int64_t dy0 = (f0->target->point - et0).dot(s);
-					if ((dx0 == 0) ? (dy0 < 0) : ((dx0 < 0) && (Rational64(dy0, dx0).compare(Rational64(dy, dx)) >= 0)))
-					{
-						et0 = f0->target->point;
-						dx = (et1 - et0).dot(perp);
-						e0 = (e0 == start0) ? NULL : f0;
-						continue;
-					}
-				}
-			}
-
-			if (e1 && (e1->target != stop1))
-			{
-				Edge* f1 = e1->reverse->next;
-				if (f1->copy > mergeStamp)
-				{
-					Point32 d1 = f1->target->point - et1;
-					if (d1.dot(normal) == 0)
-					{
-						int64_t dx1 = d1.dot(perp);
-						int64_t dy1 = d1.dot(s);
-						int64_t dxn = (f1->target->point - et0).dot(perp);
-						if ((dxn > 0) && ((dx1 == 0) ? (dy1 < 0) : ((dx1 < 0) && (Rational64(dy1, dx1).compare(Rational64(dy, dx)) > 0))))
-						{
-							e1 = f1;
-							et1 = e1->target->point;
-							dx = dxn;
-							continue;
-						}
-					}
-					else
-					{
-						btAssert((e1 == start1) && (d1.dot(normal) < 0));
-					}
-				}
-			}
-
-			break;
-		}
-	}
-	else if (dx < 0)
-	{
-		while (true)
-		{
-			int64_t dy = (et1 - et0).dot(s);
-
-			if (e1 && (e1->target != stop1))
-			{
-				Edge* f1 = e1->prev->reverse;
-				if (f1->copy > mergeStamp)
-				{
-					int64_t dx1 = (f1->target->point - et1).dot(perp);
-					int64_t dy1 = (f1->target->point - et1).dot(s);
-					if ((dx1 == 0) ? (dy1 > 0) : ((dx1 < 0) && (Rational64(dy1, dx1).compare(Rational64(dy, dx)) <= 0)))
-					{
-						et1 = f1->target->point;
-						dx = (et1 - et0).dot(perp);
-						e1 = (e1 == start1) ? NULL : f1;
-						continue;
-					}
-				}
-			}
-
-			if (e0 && (e0->target != stop0))
-			{
-				Edge* f0 = e0->reverse->prev;
-				if (f0->copy > mergeStamp)
-				{
-					Point32 d0 = f0->target->point - et0;
-					if (d0.dot(normal) == 0)
-					{
-						int64_t dx0 = d0.dot(perp);
-						int64_t dy0 = d0.dot(s);
-						int64_t dxn = (et1 - f0->target->point).dot(perp);
-						if ((dxn < 0) && ((dx0 == 0) ? (dy0 > 0) : ((dx0 < 0) && (Rational64(dy0, dx0).compare(Rational64(dy, dx)) < 0))))
-						{
-							e0 = f0;
-							et0 = e0->target->point;
-							dx = dxn;
-							continue;
-						}
-					}
-					else
-					{
-						btAssert((e0 == start0) && (d0.dot(normal) < 0));
-					}
-				}
-			}
-
-			break;
-		}
-	}
-#ifdef DEBUG_CONVEX_HULL
-	printf("   Advanced edges to %d %d\n", et0.index, et1.index);
-#endif
-}
-
-void btConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
-{
-	if (!h1.maxXy)
-	{
-		return;
-	}
-	if (!h0.maxXy)
-	{
-		h0 = h1;
-		return;
-	}
-
-	mergeStamp--;
-
-	Vertex* c0 = NULL;
-	Edge* toPrev0 = NULL;
-	Edge* firstNew0 = NULL;
-	Edge* pendingHead0 = NULL;
-	Edge* pendingTail0 = NULL;
-	Vertex* c1 = NULL;
-	Edge* toPrev1 = NULL;
-	Edge* firstNew1 = NULL;
-	Edge* pendingHead1 = NULL;
-	Edge* pendingTail1 = NULL;
-	Point32 prevPoint;
-
-	if (mergeProjection(h0, h1, c0, c1))
-	{
-		Point32 s = *c1 - *c0;
-		Point64 normal = Point32(0, 0, -1).cross(s);
-		Point64 t = s.cross(normal);
-		btAssert(!t.isZero());
-
-		Edge* e = c0->edges;
-		Edge* start0 = NULL;
-		if (e)
-		{
-			do
-			{
-				int64_t dot = (*e->target - *c0).dot(normal);
-				btAssert(dot <= 0);
-				if ((dot == 0) && ((*e->target - *c0).dot(t) > 0))
-				{
-					if (!start0 || (getOrientation(start0, e, s, Point32(0, 0, -1)) == CLOCKWISE))
-					{
-						start0 = e;
-					}
-				}
-				e = e->next;
-			} while (e != c0->edges);
-		}
-
-		e = c1->edges;
-		Edge* start1 = NULL;
-		if (e)
-		{
-			do
-			{
-				int64_t dot = (*e->target - *c1).dot(normal);
-				btAssert(dot <= 0);
-				if ((dot == 0) && ((*e->target - *c1).dot(t) > 0))
-				{
-					if (!start1 || (getOrientation(start1, e, s, Point32(0, 0, -1)) == COUNTER_CLOCKWISE))
-					{
-						start1 = e;
-					}
-				}
-				e = e->next;
-			} while (e != c1->edges);
-		}
-
-		if (start0 || start1)
-		{
-			findEdgeForCoplanarFaces(c0, c1, start0, start1, NULL, NULL);
-			if (start0)
-			{
-				c0 = start0->target;
-			}
-			if (start1)
-			{
-				c1 = start1->target;
-			}
-		}
-
-		prevPoint = c1->point;
-		prevPoint.z++;
-	}
-	else
-	{
-		prevPoint = c1->point;
-		prevPoint.x++;
-	}
-
-	Vertex* first0 = c0;
-	Vertex* first1 = c1;
-	bool firstRun = true;
-
-	while (true)
-	{
-		Point32 s = *c1 - *c0;
-		Point32 r = prevPoint - c0->point;
-		Point64 rxs = r.cross(s);
-		Point64 sxrxs = s.cross(rxs);
-
-#ifdef DEBUG_CONVEX_HULL
-		printf("\n  Checking %d %d\n", c0->point.index, c1->point.index);
-#endif
-		Rational64 minCot0(0, 0);
-		Edge* min0 = findMaxAngle(false, c0, s, rxs, sxrxs, minCot0);
-		Rational64 minCot1(0, 0);
-		Edge* min1 = findMaxAngle(true, c1, s, rxs, sxrxs, minCot1);
-		if (!min0 && !min1)
-		{
-			Edge* e = newEdgePair(c0, c1);
-			e->link(e);
-			c0->edges = e;
-
-			e = e->reverse;
-			e->link(e);
-			c1->edges = e;
-			return;
-		}
-		else
-		{
-			int cmp = !min0 ? 1 : !min1 ? -1 : minCot0.compare(minCot1);
-#ifdef DEBUG_CONVEX_HULL
-			printf("    -> Result %d\n", cmp);
-#endif
-			if (firstRun || ((cmp >= 0) ? !minCot1.isNegativeInfinity() : !minCot0.isNegativeInfinity()))
-			{
-				Edge* e = newEdgePair(c0, c1);
-				if (pendingTail0)
-				{
-					pendingTail0->prev = e;
-				}
-				else
-				{
-					pendingHead0 = e;
-				}
-				e->next = pendingTail0;
-				pendingTail0 = e;
-
-				e = e->reverse;
-				if (pendingTail1)
-				{
-					pendingTail1->next = e;
-				}
-				else
-				{
-					pendingHead1 = e;
-				}
-				e->prev = pendingTail1;
-				pendingTail1 = e;
-			}
-
-			Edge* e0 = min0;
-			Edge* e1 = min1;
-
-#ifdef DEBUG_CONVEX_HULL
-			printf("   Found min edges to %d %d\n", e0 ? e0->target->point.index : -1, e1 ? e1->target->point.index : -1);
-#endif
-
-			if (cmp == 0)
-			{
-				findEdgeForCoplanarFaces(c0, c1, e0, e1, NULL, NULL);
-			}
-
-			if ((cmp >= 0) && e1)
-			{
-				if (toPrev1)
-				{
-					for (Edge *e = toPrev1->next, *n = NULL; e != min1; e = n)
-					{
-						n = e->next;
-						removeEdgePair(e);
-					}
-				}
-
-				if (pendingTail1)
-				{
-					if (toPrev1)
-					{
-						toPrev1->link(pendingHead1);
-					}
-					else
-					{
-						min1->prev->link(pendingHead1);
-						firstNew1 = pendingHead1;
-					}
-					pendingTail1->link(min1);
-					pendingHead1 = NULL;
-					pendingTail1 = NULL;
-				}
-				else if (!toPrev1)
-				{
-					firstNew1 = min1;
-				}
-
-				prevPoint = c1->point;
-				c1 = e1->target;
-				toPrev1 = e1->reverse;
-			}
-
-			if ((cmp <= 0) && e0)
-			{
-				if (toPrev0)
-				{
-					for (Edge *e = toPrev0->prev, *n = NULL; e != min0; e = n)
-					{
-						n = e->prev;
-						removeEdgePair(e);
-					}
-				}
-
-				if (pendingTail0)
-				{
-					if (toPrev0)
-					{
-						pendingHead0->link(toPrev0);
-					}
-					else
-					{
-						pendingHead0->link(min0->next);
-						firstNew0 = pendingHead0;
-					}
-					min0->link(pendingTail0);
-					pendingHead0 = NULL;
-					pendingTail0 = NULL;
-				}
-				else if (!toPrev0)
-				{
-					firstNew0 = min0;
-				}
-
-				prevPoint = c0->point;
-				c0 = e0->target;
-				toPrev0 = e0->reverse;
-			}
-		}
-
-		if ((c0 == first0) && (c1 == first1))
-		{
-			if (toPrev0 == NULL)
-			{
-				pendingHead0->link(pendingTail0);
-				c0->edges = pendingTail0;
-			}
-			else
-			{
-				for (Edge *e = toPrev0->prev, *n = NULL; e != firstNew0; e = n)
-				{
-					n = e->prev;
-					removeEdgePair(e);
-				}
-				if (pendingTail0)
-				{
-					pendingHead0->link(toPrev0);
-					firstNew0->link(pendingTail0);
-				}
-			}
-
-			if (toPrev1 == NULL)
-			{
-				pendingTail1->link(pendingHead1);
-				c1->edges = pendingTail1;
-			}
-			else
-			{
-				for (Edge *e = toPrev1->next, *n = NULL; e != firstNew1; e = n)
-				{
-					n = e->next;
-					removeEdgePair(e);
-				}
-				if (pendingTail1)
-				{
-					toPrev1->link(pendingHead1);
-					pendingTail1->link(firstNew1);
-				}
-			}
-
-			return;
-		}
-
-		firstRun = false;
-	}
-}
-
-class pointCmp
-{
-public:
-	bool operator()(const btConvexHullInternal::Point32& p, const btConvexHullInternal::Point32& q) const
-	{
-		return (p.y < q.y) || ((p.y == q.y) && ((p.x < q.x) || ((p.x == q.x) && (p.z < q.z))));
-	}
-};
-
-void btConvexHullInternal::compute(const void* coords, bool doubleCoords, int stride, int count)
-{
-	btVector3 min(btScalar(1e30), btScalar(1e30), btScalar(1e30)), max(btScalar(-1e30), btScalar(-1e30), btScalar(-1e30));
-	const char* ptr = (const char*)coords;
-	if (doubleCoords)
-	{
-		for (int i = 0; i < count; i++)
-		{
-			const double* v = (const double*)ptr;
-			btVector3 p((btScalar)v[0], (btScalar)v[1], (btScalar)v[2]);
-			ptr += stride;
-			min.setMin(p);
-			max.setMax(p);
-		}
-	}
-	else
-	{
-		for (int i = 0; i < count; i++)
-		{
-			const float* v = (const float*)ptr;
-			btVector3 p(v[0], v[1], v[2]);
-			ptr += stride;
-			min.setMin(p);
-			max.setMax(p);
-		}
-	}
-
-	btVector3 s = max - min;
-	maxAxis = s.maxAxis();
-	minAxis = s.minAxis();
-	if (minAxis == maxAxis)
-	{
-		minAxis = (maxAxis + 1) % 3;
-	}
-	medAxis = 3 - maxAxis - minAxis;
-
-	s /= btScalar(10216);
-	if (((medAxis + 1) % 3) != maxAxis)
-	{
-		s *= -1;
-	}
-	scaling = s;
-
-	if (s[0] != 0)
-	{
-		s[0] = btScalar(1) / s[0];
-	}
-	if (s[1] != 0)
-	{
-		s[1] = btScalar(1) / s[1];
-	}
-	if (s[2] != 0)
-	{
-		s[2] = btScalar(1) / s[2];
-	}
-
-	center = (min + max) * btScalar(0.5);
-
-	btAlignedObjectArray<Point32> points;
-	points.resize(count);
-	ptr = (const char*)coords;
-	if (doubleCoords)
-	{
-		for (int i = 0; i < count; i++)
-		{
-			const double* v = (const double*)ptr;
-			btVector3 p((btScalar)v[0], (btScalar)v[1], (btScalar)v[2]);
-			ptr += stride;
-			p = (p - center) * s;
-			points[i].x = (int32_t)p[medAxis];
-			points[i].y = (int32_t)p[maxAxis];
-			points[i].z = (int32_t)p[minAxis];
-			points[i].index = i;
-		}
-	}
-	else
-	{
-		for (int i = 0; i < count; i++)
-		{
-			const float* v = (const float*)ptr;
-			btVector3 p(v[0], v[1], v[2]);
-			ptr += stride;
-			p = (p - center) * s;
-			points[i].x = (int32_t)p[medAxis];
-			points[i].y = (int32_t)p[maxAxis];
-			points[i].z = (int32_t)p[minAxis];
-			points[i].index = i;
-		}
-	}
-	points.quickSort(pointCmp());
-
-	vertexPool.reset();
-	vertexPool.setArraySize(count);
-	originalVertices.resize(count);
-	for (int i = 0; i < count; i++)
-	{
-		Vertex* v = vertexPool.newObject();
-		v->edges = NULL;
-		v->point = points[i];
-		v->copy = -1;
-		originalVertices[i] = v;
-	}
-
-	points.clear();
-
-	edgePool.reset();
-	edgePool.setArraySize(6 * count);
-
-	usedEdgePairs = 0;
-	maxUsedEdgePairs = 0;
-
-	mergeStamp = -3;
-
-	IntermediateHull hull;
-	computeInternal(0, count, hull);
-	vertexList = hull.minXy;
-#ifdef DEBUG_CONVEX_HULL
-	printf("max. edges %d (3v = %d)", maxUsedEdgePairs, 3 * count);
-#endif
-}
-
-btVector3 btConvexHullInternal::toBtVector(const Point32& v)
-{
-	btVector3 p;
-	p[medAxis] = btScalar(v.x);
-	p[maxAxis] = btScalar(v.y);
-	p[minAxis] = btScalar(v.z);
-	return p * scaling;
-}
-
-btVector3 btConvexHullInternal::getBtNormal(Face* face)
-{
-	return toBtVector(face->dir0).cross(toBtVector(face->dir1)).normalized();
-}
-
-btVector3 btConvexHullInternal::getCoordinates(const Vertex* v)
-{
-	btVector3 p;
-	p[medAxis] = v->xvalue();
-	p[maxAxis] = v->yvalue();
-	p[minAxis] = v->zvalue();
-	return p * scaling + center;
-}
-
-btScalar btConvexHullInternal::shrink(btScalar amount, btScalar clampAmount)
-{
-	if (!vertexList)
-	{
-		return 0;
-	}
-	int stamp = --mergeStamp;
-	btAlignedObjectArray<Vertex*> stack;
-	vertexList->copy = stamp;
-	stack.push_back(vertexList);
-	btAlignedObjectArray<Face*> faces;
-
-	Point32 ref = vertexList->point;
-	Int128 hullCenterX(0, 0);
-	Int128 hullCenterY(0, 0);
-	Int128 hullCenterZ(0, 0);
-	Int128 volume(0, 0);
-
-	while (stack.size() > 0)
-	{
-		Vertex* v = stack[stack.size() - 1];
-		stack.pop_back();
-		Edge* e = v->edges;
-		if (e)
-		{
-			do
-			{
-				if (e->target->copy != stamp)
-				{
-					e->target->copy = stamp;
-					stack.push_back(e->target);
-				}
-				if (e->copy != stamp)
-				{
-					Face* face = facePool.newObject();
-					face->init(e->target, e->reverse->prev->target, v);
-					faces.push_back(face);
-					Edge* f = e;
-
-					Vertex* a = NULL;
-					Vertex* b = NULL;
-					do
-					{
-						if (a && b)
-						{
-							int64_t vol = (v->point - ref).dot((a->point - ref).cross(b->point - ref));
-							btAssert(vol >= 0);
-							Point32 c = v->point + a->point + b->point + ref;
-							hullCenterX += vol * c.x;
-							hullCenterY += vol * c.y;
-							hullCenterZ += vol * c.z;
-							volume += vol;
-						}
-
-						btAssert(f->copy != stamp);
-						f->copy = stamp;
-						f->face = face;
-
-						a = b;
-						b = f->target;
-
-						f = f->reverse->prev;
-					} while (f != e);
-				}
-				e = e->next;
-			} while (e != v->edges);
-		}
-	}
-
-	if (volume.getSign() <= 0)
-	{
-		return 0;
-	}
-
-	btVector3 hullCenter;
-	hullCenter[medAxis] = hullCenterX.toScalar();
-	hullCenter[maxAxis] = hullCenterY.toScalar();
-	hullCenter[minAxis] = hullCenterZ.toScalar();
-	hullCenter /= 4 * volume.toScalar();
-	hullCenter *= scaling;
-
-	int faceCount = faces.size();
-
-	if (clampAmount > 0)
-	{
-		btScalar minDist = SIMD_INFINITY;
-		for (int i = 0; i < faceCount; i++)
-		{
-			btVector3 normal = getBtNormal(faces[i]);
-			btScalar dist = normal.dot(toBtVector(faces[i]->origin) - hullCenter);
-			if (dist < minDist)
-			{
-				minDist = dist;
-			}
-		}
-
-		if (minDist <= 0)
-		{
-			return 0;
-		}
-
-		amount = btMin(amount, minDist * clampAmount);
-	}
-
-	unsigned int seed = 243703;
-	for (int i = 0; i < faceCount; i++, seed = 1664525 * seed + 1013904223)
-	{
-		btSwap(faces[i], faces[seed % faceCount]);
-	}
-
-	for (int i = 0; i < faceCount; i++)
-	{
-		if (!shiftFace(faces[i], amount, stack))
-		{
-			return -amount;
-		}
-	}
-
-	return amount;
-}
-
-bool btConvexHullInternal::shiftFace(Face* face, btScalar amount, btAlignedObjectArray<Vertex*> stack)
-{
-	btVector3 origShift = getBtNormal(face) * -amount;
-	if (scaling[0] != 0)
-	{
-		origShift[0] /= scaling[0];
-	}
-	if (scaling[1] != 0)
-	{
-		origShift[1] /= scaling[1];
-	}
-	if (scaling[2] != 0)
-	{
-		origShift[2] /= scaling[2];
-	}
-	Point32 shift((int32_t)origShift[medAxis], (int32_t)origShift[maxAxis], (int32_t)origShift[minAxis]);
-	if (shift.isZero())
-	{
-		return true;
-	}
-	Point64 normal = face->getNormal();
-#ifdef DEBUG_CONVEX_HULL
-	printf("\nShrinking face (%d %d %d) (%d %d %d) (%d %d %d) by (%d %d %d)\n",
-		   face->origin.x, face->origin.y, face->origin.z, face->dir0.x, face->dir0.y, face->dir0.z, face->dir1.x, face->dir1.y, face->dir1.z, shift.x, shift.y, shift.z);
-#endif
-	int64_t origDot = face->origin.dot(normal);
-	Point32 shiftedOrigin = face->origin + shift;
-	int64_t shiftedDot = shiftedOrigin.dot(normal);
-	btAssert(shiftedDot <= origDot);
-	if (shiftedDot >= origDot)
-	{
-		return false;
-	}
-
-	Edge* intersection = NULL;
-
-	Edge* startEdge = face->nearbyVertex->edges;
-#ifdef DEBUG_CONVEX_HULL
-	printf("Start edge is ");
-	startEdge->print();
-	printf(", normal is (%lld %lld %lld), shifted dot is %lld\n", normal.x, normal.y, normal.z, shiftedDot);
-#endif
-	Rational128 optDot = face->nearbyVertex->dot(normal);
-	int cmp = optDot.compare(shiftedDot);
-#ifdef SHOW_ITERATIONS
-	int n = 0;
-#endif
-	if (cmp >= 0)
-	{
-		Edge* e = startEdge;
-		do
-		{
-#ifdef SHOW_ITERATIONS
-			n++;
-#endif
-			Rational128 dot = e->target->dot(normal);
-			btAssert(dot.compare(origDot) <= 0);
-#ifdef DEBUG_CONVEX_HULL
-			printf("Moving downwards, edge is ");
-			e->print();
-			printf(", dot is %f (%f %lld)\n", (float)dot.toScalar(), (float)optDot.toScalar(), shiftedDot);
-#endif
-			if (dot.compare(optDot) < 0)
-			{
-				int c = dot.compare(shiftedDot);
-				optDot = dot;
-				e = e->reverse;
-				startEdge = e;
-				if (c < 0)
-				{
-					intersection = e;
-					break;
-				}
-				cmp = c;
-			}
-			e = e->prev;
-		} while (e != startEdge);
-
-		if (!intersection)
-		{
-			return false;
-		}
-	}
-	else
-	{
-		Edge* e = startEdge;
-		do
-		{
-#ifdef SHOW_ITERATIONS
-			n++;
-#endif
-			Rational128 dot = e->target->dot(normal);
-			btAssert(dot.compare(origDot) <= 0);
-#ifdef DEBUG_CONVEX_HULL
-			printf("Moving upwards, edge is ");
-			e->print();
-			printf(", dot is %f (%f %lld)\n", (float)dot.toScalar(), (float)optDot.toScalar(), shiftedDot);
-#endif
-			if (dot.compare(optDot) > 0)
-			{
-				cmp = dot.compare(shiftedDot);
-				if (cmp >= 0)
-				{
-					intersection = e;
-					break;
-				}
-				optDot = dot;
-				e = e->reverse;
-				startEdge = e;
-			}
-			e = e->prev;
-		} while (e != startEdge);
-
-		if (!intersection)
-		{
-			return true;
-		}
-	}
-
-#ifdef SHOW_ITERATIONS
-	printf("Needed %d iterations to find initial intersection\n", n);
-#endif
-
-	if (cmp == 0)
-	{
-		Edge* e = intersection->reverse->next;
-#ifdef SHOW_ITERATIONS
-		n = 0;
-#endif
-		while (e->target->dot(normal).compare(shiftedDot) <= 0)
-		{
-#ifdef SHOW_ITERATIONS
-			n++;
-#endif
-			e = e->next;
-			if (e == intersection->reverse)
-			{
-				return true;
-			}
-#ifdef DEBUG_CONVEX_HULL
-			printf("Checking for outwards edge, current edge is ");
-			e->print();
-			printf("\n");
-#endif
-		}
-#ifdef SHOW_ITERATIONS
-		printf("Needed %d iterations to check for complete containment\n", n);
-#endif
-	}
-
-	Edge* firstIntersection = NULL;
-	Edge* faceEdge = NULL;
-	Edge* firstFaceEdge = NULL;
-
-#ifdef SHOW_ITERATIONS
-	int m = 0;
-#endif
-	while (true)
-	{
-#ifdef SHOW_ITERATIONS
-		m++;
-#endif
-#ifdef DEBUG_CONVEX_HULL
-		printf("Intersecting edge is ");
-		intersection->print();
-		printf("\n");
-#endif
-		if (cmp == 0)
-		{
-			Edge* e = intersection->reverse->next;
-			startEdge = e;
-#ifdef SHOW_ITERATIONS
-			n = 0;
-#endif
-			while (true)
-			{
-#ifdef SHOW_ITERATIONS
-				n++;
-#endif
-				if (e->target->dot(normal).compare(shiftedDot) >= 0)
-				{
-					break;
-				}
-				intersection = e->reverse;
-				e = e->next;
-				if (e == startEdge)
-				{
-					return true;
-				}
-			}
-#ifdef SHOW_ITERATIONS
-			printf("Needed %d iterations to advance intersection\n", n);
-#endif
-		}
-
-#ifdef DEBUG_CONVEX_HULL
-		printf("Advanced intersecting edge to ");
-		intersection->print();
-		printf(", cmp = %d\n", cmp);
-#endif
-
-		if (!firstIntersection)
-		{
-			firstIntersection = intersection;
-		}
-		else if (intersection == firstIntersection)
-		{
-			break;
-		}
-
-		int prevCmp = cmp;
-		Edge* prevIntersection = intersection;
-		Edge* prevFaceEdge = faceEdge;
-
-		Edge* e = intersection->reverse;
-#ifdef SHOW_ITERATIONS
-		n = 0;
-#endif
-		while (true)
-		{
-#ifdef SHOW_ITERATIONS
-			n++;
-#endif
-			e = e->reverse->prev;
-			btAssert(e != intersection->reverse);
-			cmp = e->target->dot(normal).compare(shiftedDot);
-#ifdef DEBUG_CONVEX_HULL
-			printf("Testing edge ");
-			e->print();
-			printf(" -> cmp = %d\n", cmp);
-#endif
-			if (cmp >= 0)
-			{
-				intersection = e;
-				break;
-			}
-		}
-#ifdef SHOW_ITERATIONS
-		printf("Needed %d iterations to find other intersection of face\n", n);
-#endif
-
-		if (cmp > 0)
-		{
-			Vertex* removed = intersection->target;
-			e = intersection->reverse;
-			if (e->prev == e)
-			{
-				removed->edges = NULL;
-			}
-			else
-			{
-				removed->edges = e->prev;
-				e->prev->link(e->next);
-				e->link(e);
-			}
-#ifdef DEBUG_CONVEX_HULL
-			printf("1: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z);
-#endif
-
-			Point64 n0 = intersection->face->getNormal();
-			Point64 n1 = intersection->reverse->face->getNormal();
-			int64_t m00 = face->dir0.dot(n0);
-			int64_t m01 = face->dir1.dot(n0);
-			int64_t m10 = face->dir0.dot(n1);
-			int64_t m11 = face->dir1.dot(n1);
-			int64_t r0 = (intersection->face->origin - shiftedOrigin).dot(n0);
-			int64_t r1 = (intersection->reverse->face->origin - shiftedOrigin).dot(n1);
-			Int128 det = Int128::mul(m00, m11) - Int128::mul(m01, m10);
-			btAssert(det.getSign() != 0);
-			Vertex* v = vertexPool.newObject();
-			v->point.index = -1;
-			v->copy = -1;
-			v->point128 = PointR128(Int128::mul(face->dir0.x * r0, m11) - Int128::mul(face->dir0.x * r1, m01) + Int128::mul(face->dir1.x * r1, m00) - Int128::mul(face->dir1.x * r0, m10) + det * shiftedOrigin.x,
-									Int128::mul(face->dir0.y * r0, m11) - Int128::mul(face->dir0.y * r1, m01) + Int128::mul(face->dir1.y * r1, m00) - Int128::mul(face->dir1.y * r0, m10) + det * shiftedOrigin.y,
-									Int128::mul(face->dir0.z * r0, m11) - Int128::mul(face->dir0.z * r1, m01) + Int128::mul(face->dir1.z * r1, m00) - Int128::mul(face->dir1.z * r0, m10) + det * shiftedOrigin.z,
-									det);
-			v->point.x = (int32_t)v->point128.xvalue();
-			v->point.y = (int32_t)v->point128.yvalue();
-			v->point.z = (int32_t)v->point128.zvalue();
-			intersection->target = v;
-			v->edges = e;
-
-			stack.push_back(v);
-			stack.push_back(removed);
-			stack.push_back(NULL);
-		}
-
-		if (cmp || prevCmp || (prevIntersection->reverse->next->target != intersection->target))
-		{
-			faceEdge = newEdgePair(prevIntersection->target, intersection->target);
-			if (prevCmp == 0)
-			{
-				faceEdge->link(prevIntersection->reverse->next);
-			}
-			if ((prevCmp == 0) || prevFaceEdge)
-			{
-				prevIntersection->reverse->link(faceEdge);
-			}
-			if (cmp == 0)
-			{
-				intersection->reverse->prev->link(faceEdge->reverse);
-			}
-			faceEdge->reverse->link(intersection->reverse);
-		}
-		else
-		{
-			faceEdge = prevIntersection->reverse->next;
-		}
-
-		if (prevFaceEdge)
-		{
-			if (prevCmp > 0)
-			{
-				faceEdge->link(prevFaceEdge->reverse);
-			}
-			else if (faceEdge != prevFaceEdge->reverse)
-			{
-				stack.push_back(prevFaceEdge->target);
-				while (faceEdge->next != prevFaceEdge->reverse)
-				{
-					Vertex* removed = faceEdge->next->target;
-					removeEdgePair(faceEdge->next);
-					stack.push_back(removed);
-#ifdef DEBUG_CONVEX_HULL
-					printf("2: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z);
-#endif
-				}
-				stack.push_back(NULL);
-			}
-		}
-		faceEdge->face = face;
-		faceEdge->reverse->face = intersection->face;
-
-		if (!firstFaceEdge)
-		{
-			firstFaceEdge = faceEdge;
-		}
-	}
-#ifdef SHOW_ITERATIONS
-	printf("Needed %d iterations to process all intersections\n", m);
-#endif
-
-	if (cmp > 0)
-	{
-		firstFaceEdge->reverse->target = faceEdge->target;
-		firstIntersection->reverse->link(firstFaceEdge);
-		firstFaceEdge->link(faceEdge->reverse);
-	}
-	else if (firstFaceEdge != faceEdge->reverse)
-	{
-		stack.push_back(faceEdge->target);
-		while (firstFaceEdge->next != faceEdge->reverse)
-		{
-			Vertex* removed = firstFaceEdge->next->target;
-			removeEdgePair(firstFaceEdge->next);
-			stack.push_back(removed);
-#ifdef DEBUG_CONVEX_HULL
-			printf("3: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z);
-#endif
-		}
-		stack.push_back(NULL);
-	}
-
-	btAssert(stack.size() > 0);
-	vertexList = stack[0];
-
-#ifdef DEBUG_CONVEX_HULL
-	printf("Removing part\n");
-#endif
-#ifdef SHOW_ITERATIONS
-	n = 0;
-#endif
-	int pos = 0;
-	while (pos < stack.size())
-	{
-		int end = stack.size();
-		while (pos < end)
-		{
-			Vertex* kept = stack[pos++];
-#ifdef DEBUG_CONVEX_HULL
-			kept->print();
-#endif
-			bool deeper = false;
-			Vertex* removed;
-			while ((removed = stack[pos++]) != NULL)
-			{
-#ifdef SHOW_ITERATIONS
-				n++;
-#endif
-				kept->receiveNearbyFaces(removed);
-				while (removed->edges)
-				{
-					if (!deeper)
-					{
-						deeper = true;
-						stack.push_back(kept);
-					}
-					stack.push_back(removed->edges->target);
-					removeEdgePair(removed->edges);
-				}
-			}
-			if (deeper)
-			{
-				stack.push_back(NULL);
-			}
-		}
-	}
-#ifdef SHOW_ITERATIONS
-	printf("Needed %d iterations to remove part\n", n);
-#endif
-
-	stack.resize(0);
-	face->origin = shiftedOrigin;
-
-	return true;
-}
-
-static int getVertexCopy(btConvexHullInternal::Vertex* vertex, btAlignedObjectArray<btConvexHullInternal::Vertex*>& vertices)
-{
-	int index = vertex->copy;
-	if (index < 0)
-	{
-		index = vertices.size();
-		vertex->copy = index;
-		vertices.push_back(vertex);
-#ifdef DEBUG_CONVEX_HULL
-		printf("Vertex %d gets index *%d\n", vertex->point.index, index);
-#endif
-	}
-	return index;
-}
-
-btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, int stride, int count, btScalar shrink, btScalar shrinkClamp)
-{
-	if (count <= 0)
-	{
-		vertices.clear();
-		edges.clear();
-		faces.clear();
-		return 0;
-	}
-
-	btConvexHullInternal hull;
-	hull.compute(coords, doubleCoords, stride, count);
-
-	btScalar shift = 0;
-	if ((shrink > 0) && ((shift = hull.shrink(shrink, shrinkClamp)) < 0))
-	{
-		vertices.clear();
-		edges.clear();
-		faces.clear();
-		return shift;
-	}
-
-	vertices.resize(0);
-	original_vertex_index.resize(0);
-	edges.resize(0);
-	faces.resize(0);
-
-	btAlignedObjectArray<btConvexHullInternal::Vertex*> oldVertices;
-	getVertexCopy(hull.vertexList, oldVertices);
-	int copied = 0;
-	while (copied < oldVertices.size())
-	{
-		btConvexHullInternal::Vertex* v = oldVertices[copied];
-		vertices.push_back(hull.getCoordinates(v));
-		original_vertex_index.push_back(v->point.index);
-		btConvexHullInternal::Edge* firstEdge = v->edges;
-		if (firstEdge)
-		{
-			int firstCopy = -1;
-			int prevCopy = -1;
-			btConvexHullInternal::Edge* e = firstEdge;
-			do
-			{
-				if (e->copy < 0)
-				{
-					int s = edges.size();
-					edges.push_back(Edge());
-					edges.push_back(Edge());
-					Edge* c = &edges[s];
-					Edge* r = &edges[s + 1];
-					e->copy = s;
-					e->reverse->copy = s + 1;
-					c->reverse = 1;
-					r->reverse = -1;
-					c->targetVertex = getVertexCopy(e->target, oldVertices);
-					r->targetVertex = copied;
-#ifdef DEBUG_CONVEX_HULL
-					printf("      CREATE: Vertex *%d has edge to *%d\n", copied, c->getTargetVertex());
-#endif
-				}
-				if (prevCopy >= 0)
-				{
-					edges[e->copy].next = prevCopy - e->copy;
-				}
-				else
-				{
-					firstCopy = e->copy;
-				}
-				prevCopy = e->copy;
-				e = e->next;
-			} while (e != firstEdge);
-			edges[firstCopy].next = prevCopy - firstCopy;
-		}
-		copied++;
-	}
-
-	for (int i = 0; i < copied; i++)
-	{
-		btConvexHullInternal::Vertex* v = oldVertices[i];
-		btConvexHullInternal::Edge* firstEdge = v->edges;
-		if (firstEdge)
-		{
-			btConvexHullInternal::Edge* e = firstEdge;
-			do
-			{
-				if (e->copy >= 0)
-				{
-#ifdef DEBUG_CONVEX_HULL
-					printf("Vertex *%d has edge to *%d\n", i, edges[e->copy].getTargetVertex());
-#endif
-					faces.push_back(e->copy);
-					btConvexHullInternal::Edge* f = e;
-					do
-					{
-#ifdef DEBUG_CONVEX_HULL
-						printf("   Face *%d\n", edges[f->copy].getTargetVertex());
-#endif
-						f->copy = -1;
-						f = f->reverse->prev;
-					} while (f != e);
-				}
-				e = e->next;
-			} while (e != firstEdge);
-		}
-	}
-
-	return shift;
-}
diff --git a/thirdparty/bullet/LinearMath/btConvexHullComputer.h b/thirdparty/bullet/LinearMath/btConvexHullComputer.h
deleted file mode 100644
index 18b26eea9a..0000000000
--- a/thirdparty/bullet/LinearMath/btConvexHullComputer.h
+++ /dev/null
@@ -1,102 +0,0 @@
-/*
-Copyright (c) 2011 Ole Kniemeyer, MAXON, www.maxon.net
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_CONVEX_HULL_COMPUTER_H
-#define BT_CONVEX_HULL_COMPUTER_H
-
-#include "btVector3.h"
-#include "btAlignedObjectArray.h"
-
-/// Convex hull implementation based on Preparata and Hong
-/// See http://code.google.com/p/bullet/issues/detail?id=275
-/// Ole Kniemeyer, MAXON Computer GmbH
-class btConvexHullComputer
-{
-private:
-	btScalar compute(const void* coords, bool doubleCoords, int stride, int count, btScalar shrink, btScalar shrinkClamp);
-
-public:
-	class Edge
-	{
-	private:
-		int next;
-		int reverse;
-		int targetVertex;
-
-		friend class btConvexHullComputer;
-
-	public:
-		int getSourceVertex() const
-		{
-			return (this + reverse)->targetVertex;
-		}
-
-		int getTargetVertex() const
-		{
-			return targetVertex;
-		}
-
-		const Edge* getNextEdgeOfVertex() const  // clockwise list of all edges of a vertex
-		{
-			return this + next;
-		}
-
-		const Edge* getNextEdgeOfFace() const  // counter-clockwise list of all edges of a face
-		{
-			return (this + reverse)->getNextEdgeOfVertex();
-		}
-
-		const Edge* getReverseEdge() const
-		{
-			return this + reverse;
-		}
-	};
-
-	// Vertices of the output hull
-	btAlignedObjectArray<btVector3> vertices;
-
-	// The original vertex index in the input coords array
-	btAlignedObjectArray<int> original_vertex_index;
-
-	// Edges of the output hull
-	btAlignedObjectArray<Edge> edges;
-
-	// Faces of the convex hull. Each entry is an index into the "edges" array pointing to an edge of the face. Faces are planar n-gons
-	btAlignedObjectArray<int> faces;
-
-	/*
-		Compute convex hull of "count" vertices stored in "coords". "stride" is the difference in bytes
-		between the addresses of consecutive vertices. If "shrink" is positive, the convex hull is shrunken
-		by that amount (each face is moved by "shrink" length units towards the center along its normal).
-		If "shrinkClamp" is positive, "shrink" is clamped to not exceed "shrinkClamp * innerRadius", where "innerRadius"
-		is the minimum distance of a face to the center of the convex hull.
-
-		The returned value is the amount by which the hull has been shrunken. If it is negative, the amount was so large
-		that the resulting convex hull is empty.
-
-		The output convex hull can be found in the member variables "vertices", "edges", "faces".
-		*/
-	btScalar compute(const float* coords, int stride, int count, btScalar shrink, btScalar shrinkClamp)
-	{
-		return compute(coords, false, stride, count, shrink, shrinkClamp);
-	}
-
-	// same as above, but double precision
-	btScalar compute(const double* coords, int stride, int count, btScalar shrink, btScalar shrinkClamp)
-	{
-		return compute(coords, true, stride, count, shrink, shrinkClamp);
-	}
-};
-
-#endif  //BT_CONVEX_HULL_COMPUTER_H
diff --git a/thirdparty/bullet/LinearMath/btCpuFeatureUtility.h b/thirdparty/bullet/LinearMath/btCpuFeatureUtility.h
deleted file mode 100644
index 5e4b9a313c..0000000000
--- a/thirdparty/bullet/LinearMath/btCpuFeatureUtility.h
+++ /dev/null
@@ -1,88 +0,0 @@
-
-#ifndef BT_CPU_UTILITY_H
-#define BT_CPU_UTILITY_H
-
-#include "LinearMath/btScalar.h"
-
-#include <string.h>  //memset
-#ifdef USE_SIMD
-#include <emmintrin.h>
-#ifdef BT_ALLOW_SSE4
-#include <intrin.h>
-#endif  //BT_ALLOW_SSE4
-#endif  //USE_SIMD
-
-#if defined BT_USE_NEON
-#define ARM_NEON_GCC_COMPATIBILITY 1
-#include <arm_neon.h>
-#include <sys/types.h>
-#include <sys/sysctl.h>  //for sysctlbyname
-#endif                   //BT_USE_NEON
-
-///Rudimentary btCpuFeatureUtility for CPU features: only report the features that Bullet actually uses (SSE4/FMA3, NEON_HPFP)
-///We assume SSE2 in case BT_USE_SSE2 is defined in LinearMath/btScalar.h
-class btCpuFeatureUtility
-{
-public:
-	enum btCpuFeature
-	{
-		CPU_FEATURE_FMA3 = 1,
-		CPU_FEATURE_SSE4_1 = 2,
-		CPU_FEATURE_NEON_HPFP = 4
-	};
-
-	static int getCpuFeatures()
-	{
-		static int capabilities = 0;
-		static bool testedCapabilities = false;
-		if (0 != testedCapabilities)
-		{
-			return capabilities;
-		}
-
-#ifdef BT_USE_NEON
-		{
-			uint32_t hasFeature = 0;
-			size_t featureSize = sizeof(hasFeature);
-			int err = sysctlbyname("hw.optional.neon_hpfp", &hasFeature, &featureSize, NULL, 0);
-			if (0 == err && hasFeature)
-				capabilities |= CPU_FEATURE_NEON_HPFP;
-		}
-#endif  //BT_USE_NEON
-
-#ifdef BT_ALLOW_SSE4
-		{
-			int cpuInfo[4];
-			memset(cpuInfo, 0, sizeof(cpuInfo));
-			unsigned long long sseExt = 0;
-			__cpuid(cpuInfo, 1);
-
-			bool osUsesXSAVE_XRSTORE = cpuInfo[2] & (1 << 27) || false;
-			bool cpuAVXSuport = cpuInfo[2] & (1 << 28) || false;
-
-			if (osUsesXSAVE_XRSTORE && cpuAVXSuport)
-			{
-				sseExt = _xgetbv(0);
-			}
-			const int OSXSAVEFlag = (1UL << 27);
-			const int AVXFlag = ((1UL << 28) | OSXSAVEFlag);
-			const int FMAFlag = ((1UL << 12) | AVXFlag | OSXSAVEFlag);
-			if ((cpuInfo[2] & FMAFlag) == FMAFlag && (sseExt & 6) == 6)
-			{
-				capabilities |= btCpuFeatureUtility::CPU_FEATURE_FMA3;
-			}
-
-			const int SSE41Flag = (1 << 19);
-			if (cpuInfo[2] & SSE41Flag)
-			{
-				capabilities |= btCpuFeatureUtility::CPU_FEATURE_SSE4_1;
-			}
-		}
-#endif  //BT_ALLOW_SSE4
-
-		testedCapabilities = true;
-		return capabilities;
-	}
-};
-
-#endif  //BT_CPU_UTILITY_H
diff --git a/thirdparty/bullet/LinearMath/btDefaultMotionState.h b/thirdparty/bullet/LinearMath/btDefaultMotionState.h
deleted file mode 100644
index 14c40d36b0..0000000000
--- a/thirdparty/bullet/LinearMath/btDefaultMotionState.h
+++ /dev/null
@@ -1,40 +0,0 @@
-#ifndef BT_DEFAULT_MOTION_STATE_H
-#define BT_DEFAULT_MOTION_STATE_H
-
-#include "btMotionState.h"
-
-///The btDefaultMotionState provides a common implementation to synchronize world transforms with offsets.
-ATTRIBUTE_ALIGNED16(struct)
-btDefaultMotionState : public btMotionState
-{
-	btTransform m_graphicsWorldTrans;
-	btTransform m_centerOfMassOffset;
-	btTransform m_startWorldTrans;
-	void* m_userPointer;
-
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btDefaultMotionState(const btTransform& startTrans = btTransform::getIdentity(), const btTransform& centerOfMassOffset = btTransform::getIdentity())
-		: m_graphicsWorldTrans(startTrans),
-		  m_centerOfMassOffset(centerOfMassOffset),
-		  m_startWorldTrans(startTrans),
-		  m_userPointer(0)
-
-	{
-	}
-
-	///synchronizes world transform from user to physics
-	virtual void getWorldTransform(btTransform & centerOfMassWorldTrans) const
-	{
-		centerOfMassWorldTrans = m_graphicsWorldTrans * m_centerOfMassOffset.inverse();
-	}
-
-	///synchronizes world transform from physics to user
-	///Bullet only calls the update of worldtransform for active objects
-	virtual void setWorldTransform(const btTransform& centerOfMassWorldTrans)
-	{
-		m_graphicsWorldTrans = centerOfMassWorldTrans * m_centerOfMassOffset;
-	}
-};
-
-#endif  //BT_DEFAULT_MOTION_STATE_H
diff --git a/thirdparty/bullet/LinearMath/btGeometryUtil.cpp b/thirdparty/bullet/LinearMath/btGeometryUtil.cpp
deleted file mode 100644
index 115e3eab81..0000000000
--- a/thirdparty/bullet/LinearMath/btGeometryUtil.cpp
+++ /dev/null
@@ -1,174 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btGeometryUtil.h"
-
-/*
-  Make sure this dummy function never changes so that it
-  can be used by probes that are checking whether the
-  library is actually installed.
-*/
-extern "C"
-{
-	void btBulletMathProbe();
-
-	void btBulletMathProbe() {}
-}
-
-bool btGeometryUtil::isPointInsidePlanes(const btAlignedObjectArray<btVector3>& planeEquations, const btVector3& point, btScalar margin)
-{
-	int numbrushes = planeEquations.size();
-	for (int i = 0; i < numbrushes; i++)
-	{
-		const btVector3& N1 = planeEquations[i];
-		btScalar dist = btScalar(N1.dot(point)) + btScalar(N1[3]) - margin;
-		if (dist > btScalar(0.))
-		{
-			return false;
-		}
-	}
-	return true;
-}
-
-bool btGeometryUtil::areVerticesBehindPlane(const btVector3& planeNormal, const btAlignedObjectArray<btVector3>& vertices, btScalar margin)
-{
-	int numvertices = vertices.size();
-	for (int i = 0; i < numvertices; i++)
-	{
-		const btVector3& N1 = vertices[i];
-		btScalar dist = btScalar(planeNormal.dot(N1)) + btScalar(planeNormal[3]) - margin;
-		if (dist > btScalar(0.))
-		{
-			return false;
-		}
-	}
-	return true;
-}
-
-bool notExist(const btVector3& planeEquation, const btAlignedObjectArray<btVector3>& planeEquations);
-
-bool notExist(const btVector3& planeEquation, const btAlignedObjectArray<btVector3>& planeEquations)
-{
-	int numbrushes = planeEquations.size();
-	for (int i = 0; i < numbrushes; i++)
-	{
-		const btVector3& N1 = planeEquations[i];
-		if (planeEquation.dot(N1) > btScalar(0.999))
-		{
-			return false;
-		}
-	}
-	return true;
-}
-
-void btGeometryUtil::getPlaneEquationsFromVertices(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& planeEquationsOut)
-{
-	const int numvertices = vertices.size();
-	// brute force:
-	for (int i = 0; i < numvertices; i++)
-	{
-		const btVector3& N1 = vertices[i];
-
-		for (int j = i + 1; j < numvertices; j++)
-		{
-			const btVector3& N2 = vertices[j];
-
-			for (int k = j + 1; k < numvertices; k++)
-			{
-				const btVector3& N3 = vertices[k];
-
-				btVector3 planeEquation, edge0, edge1;
-				edge0 = N2 - N1;
-				edge1 = N3 - N1;
-				btScalar normalSign = btScalar(1.);
-				for (int ww = 0; ww < 2; ww++)
-				{
-					planeEquation = normalSign * edge0.cross(edge1);
-					if (planeEquation.length2() > btScalar(0.0001))
-					{
-						planeEquation.normalize();
-						if (notExist(planeEquation, planeEquationsOut))
-						{
-							planeEquation[3] = -planeEquation.dot(N1);
-
-							//check if inside, and replace supportingVertexOut if needed
-							if (areVerticesBehindPlane(planeEquation, vertices, btScalar(0.01)))
-							{
-								planeEquationsOut.push_back(planeEquation);
-							}
-						}
-					}
-					normalSign = btScalar(-1.);
-				}
-			}
-		}
-	}
-}
-
-void btGeometryUtil::getVerticesFromPlaneEquations(const btAlignedObjectArray<btVector3>& planeEquations, btAlignedObjectArray<btVector3>& verticesOut)
-{
-	const int numbrushes = planeEquations.size();
-	// brute force:
-	for (int i = 0; i < numbrushes; i++)
-	{
-		const btVector3& N1 = planeEquations[i];
-
-		for (int j = i + 1; j < numbrushes; j++)
-		{
-			const btVector3& N2 = planeEquations[j];
-
-			for (int k = j + 1; k < numbrushes; k++)
-			{
-				const btVector3& N3 = planeEquations[k];
-
-				btVector3 n2n3;
-				n2n3 = N2.cross(N3);
-				btVector3 n3n1;
-				n3n1 = N3.cross(N1);
-				btVector3 n1n2;
-				n1n2 = N1.cross(N2);
-
-				if ((n2n3.length2() > btScalar(0.0001)) &&
-					(n3n1.length2() > btScalar(0.0001)) &&
-					(n1n2.length2() > btScalar(0.0001)))
-				{
-					//point P out of 3 plane equations:
-
-					//	d1 ( N2 * N3 ) + d2 ( N3 * N1 ) + d3 ( N1 * N2 )
-					//P =  -------------------------------------------------------------------------
-					//   N1 . ( N2 * N3 )
-
-					btScalar quotient = (N1.dot(n2n3));
-					if (btFabs(quotient) > btScalar(0.000001))
-					{
-						quotient = btScalar(-1.) / quotient;
-						n2n3 *= N1[3];
-						n3n1 *= N2[3];
-						n1n2 *= N3[3];
-						btVector3 potentialVertex = n2n3;
-						potentialVertex += n3n1;
-						potentialVertex += n1n2;
-						potentialVertex *= quotient;
-
-						//check if inside, and replace supportingVertexOut if needed
-						if (isPointInsidePlanes(planeEquations, potentialVertex, btScalar(0.01)))
-						{
-							verticesOut.push_back(potentialVertex);
-						}
-					}
-				}
-			}
-		}
-	}
-}
diff --git a/thirdparty/bullet/LinearMath/btGeometryUtil.h b/thirdparty/bullet/LinearMath/btGeometryUtil.h
deleted file mode 100644
index 0ce5b76d92..0000000000
--- a/thirdparty/bullet/LinearMath/btGeometryUtil.h
+++ /dev/null
@@ -1,36 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_GEOMETRY_UTIL_H
-#define BT_GEOMETRY_UTIL_H
-
-#include "btVector3.h"
-#include "btAlignedObjectArray.h"
-
-///The btGeometryUtil helper class provides a few methods to convert between plane equations and vertices.
-class btGeometryUtil
-{
-public:
-	static void getPlaneEquationsFromVertices(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& planeEquationsOut);
-
-	static void getVerticesFromPlaneEquations(const btAlignedObjectArray<btVector3>& planeEquations, btAlignedObjectArray<btVector3>& verticesOut);
-
-	static bool isInside(const btAlignedObjectArray<btVector3>& vertices, const btVector3& planeNormal, btScalar margin);
-
-	static bool isPointInsidePlanes(const btAlignedObjectArray<btVector3>& planeEquations, const btVector3& point, btScalar margin);
-
-	static bool areVerticesBehindPlane(const btVector3& planeNormal, const btAlignedObjectArray<btVector3>& vertices, btScalar margin);
-};
-
-#endif  //BT_GEOMETRY_UTIL_H
diff --git a/thirdparty/bullet/LinearMath/btGrahamScan2dConvexHull.h b/thirdparty/bullet/LinearMath/btGrahamScan2dConvexHull.h
deleted file mode 100644
index 0fcb285971..0000000000
--- a/thirdparty/bullet/LinearMath/btGrahamScan2dConvexHull.h
+++ /dev/null
@@ -1,129 +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.
-*/
-
-#ifndef GRAHAM_SCAN_2D_CONVEX_HULL_H
-#define GRAHAM_SCAN_2D_CONVEX_HULL_H
-
-#include "btVector3.h"
-#include "btAlignedObjectArray.h"
-
-struct GrahamVector3 : public btVector3
-{
-	GrahamVector3(const btVector3& org, int orgIndex)
-		: btVector3(org),
-		  m_orgIndex(orgIndex)
-	{
-	}
-	btScalar m_angle;
-	int m_orgIndex;
-};
-
-struct btAngleCompareFunc
-{
-	btVector3 m_anchor;
-	btAngleCompareFunc(const btVector3& anchor)
-		: m_anchor(anchor)
-	{
-	}
-	bool operator()(const GrahamVector3& a, const GrahamVector3& b) const
-	{
-		if (a.m_angle != b.m_angle)
-			return a.m_angle < b.m_angle;
-		else
-		{
-			btScalar al = (a - m_anchor).length2();
-			btScalar bl = (b - m_anchor).length2();
-			if (al != bl)
-				return al < bl;
-			else
-			{
-				return a.m_orgIndex < b.m_orgIndex;
-			}
-		}
-	}
-};
-
-inline void GrahamScanConvexHull2D(btAlignedObjectArray<GrahamVector3>& originalPoints, btAlignedObjectArray<GrahamVector3>& hull, const btVector3& normalAxis)
-{
-	btVector3 axis0, axis1;
-	btPlaneSpace1(normalAxis, axis0, axis1);
-
-	if (originalPoints.size() <= 1)
-	{
-		for (int i = 0; i < originalPoints.size(); i++)
-			hull.push_back(originalPoints[0]);
-		return;
-	}
-	//step1 : find anchor point with smallest projection on axis0 and move it to first location
-	for (int i = 0; i < originalPoints.size(); i++)
-	{
-		//		const btVector3& left = originalPoints[i];
-		//		const btVector3& right = originalPoints[0];
-		btScalar projL = originalPoints[i].dot(axis0);
-		btScalar projR = originalPoints[0].dot(axis0);
-		if (projL < projR)
-		{
-			originalPoints.swap(0, i);
-		}
-	}
-
-	//also precompute angles
-	originalPoints[0].m_angle = -1e30f;
-	for (int i = 1; i < originalPoints.size(); i++)
-	{
-		btVector3 ar = originalPoints[i] - originalPoints[0];
-		btScalar ar1 = axis1.dot(ar);
-		btScalar ar0 = axis0.dot(ar);
-		if (ar1 * ar1 + ar0 * ar0 < FLT_EPSILON)
-		{
-			originalPoints[i].m_angle = 0.0f;
-		}
-		else
-		{
-			originalPoints[i].m_angle = btAtan2Fast(ar1, ar0);
-		}
-	}
-
-	//step 2: sort all points, based on 'angle' with this anchor
-	btAngleCompareFunc comp(originalPoints[0]);
-	originalPoints.quickSortInternal(comp, 1, originalPoints.size() - 1);
-
-	int i;
-	for (i = 0; i < 2; i++)
-		hull.push_back(originalPoints[i]);
-
-	//step 3: keep all 'convex' points and discard concave points (using back tracking)
-	for (; i != originalPoints.size(); i++)
-	{
-		bool isConvex = false;
-		while (!isConvex && hull.size() > 1)
-		{
-			btVector3& a = hull[hull.size() - 2];
-			btVector3& b = hull[hull.size() - 1];
-			isConvex = btCross(a - b, a - originalPoints[i]).dot(normalAxis) > 0;
-			if (!isConvex)
-				hull.pop_back();
-			else
-				hull.push_back(originalPoints[i]);
-		}
-
-		if (hull.size() == 1)
-		{
-			hull.push_back(originalPoints[i]);
-		}
-	}
-}
-
-#endif  //GRAHAM_SCAN_2D_CONVEX_HULL_H
diff --git a/thirdparty/bullet/LinearMath/btHashMap.h b/thirdparty/bullet/LinearMath/btHashMap.h
deleted file mode 100644
index 1fca0fb73a..0000000000
--- a/thirdparty/bullet/LinearMath/btHashMap.h
+++ /dev/null
@@ -1,470 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_HASH_MAP_H
-#define BT_HASH_MAP_H
-
-#include <string>
-#include "btAlignedObjectArray.h"
-
-///very basic hashable string implementation, compatible with btHashMap
-struct btHashString
-{
-	std::string m_string1;
-	unsigned int m_hash;
-
-	SIMD_FORCE_INLINE unsigned int getHash() const
-	{
-		return m_hash;
-	}
-
-	btHashString()
-	{
-		m_string1 = "";
-		m_hash = 0;
-	}
-	btHashString(const char* name)
-		: m_string1(name)
-	{
-		/* magic numbers from http://www.isthe.com/chongo/tech/comp/fnv/ */
-		static const unsigned int InitialFNV = 2166136261u;
-		static const unsigned int FNVMultiple = 16777619u;
-
-		/* Fowler / Noll / Vo (FNV) Hash */
-		unsigned int hash = InitialFNV;
-
-		for (int i = 0; m_string1.c_str()[i]; i++)
-		{
-			hash = hash ^ (m_string1.c_str()[i]); /* xor  the low 8 bits */
-			hash = hash * FNVMultiple;            /* multiply by the magic number */
-		}
-		m_hash = hash;
-	}
-
-	bool equals(const btHashString& other) const
-	{
-		return (m_string1 == other.m_string1);
-	}
-};
-
-const int BT_HASH_NULL = 0xffffffff;
-
-class btHashInt
-{
-	int m_uid;
-
-public:
-	btHashInt()
-	{
-	}
-
-	btHashInt(int uid) : m_uid(uid)
-	{
-	}
-
-	int getUid1() const
-	{
-		return m_uid;
-	}
-
-	void setUid1(int uid)
-	{
-		m_uid = uid;
-	}
-
-	bool equals(const btHashInt& other) const
-	{
-		return getUid1() == other.getUid1();
-	}
-	//to our success
-	SIMD_FORCE_INLINE unsigned int getHash() const
-	{
-		unsigned int key = m_uid;
-		// Thomas Wang's hash
-		key += ~(key << 15);
-		key ^= (key >> 10);
-		key += (key << 3);
-		key ^= (key >> 6);
-		key += ~(key << 11);
-		key ^= (key >> 16);
-
-		return key;
-	}
-};
-
-class btHashPtr
-{
-	union {
-		const void* m_pointer;
-		unsigned int m_hashValues[2];
-	};
-
-public:
-	btHashPtr(const void* ptr)
-		: m_pointer(ptr)
-	{
-	}
-
-	const void* getPointer() const
-	{
-		return m_pointer;
-	}
-
-	bool equals(const btHashPtr& other) const
-	{
-		return getPointer() == other.getPointer();
-	}
-
-	//to our success
-	SIMD_FORCE_INLINE unsigned int getHash() const
-	{
-		const bool VOID_IS_8 = ((sizeof(void*) == 8));
-
-		unsigned int key = VOID_IS_8 ? m_hashValues[0] + m_hashValues[1] : m_hashValues[0];
-		// Thomas Wang's hash
-		key += ~(key << 15);
-		key ^= (key >> 10);
-		key += (key << 3);
-		key ^= (key >> 6);
-		key += ~(key << 11);
-		key ^= (key >> 16);
-		return key;
-	}
-};
-
-template <class Value>
-class btHashKeyPtr
-{
-	int m_uid;
-
-public:
-	btHashKeyPtr(int uid) : m_uid(uid)
-	{
-	}
-
-	int getUid1() const
-	{
-		return m_uid;
-	}
-
-	bool equals(const btHashKeyPtr<Value>& other) const
-	{
-		return getUid1() == other.getUid1();
-	}
-
-	//to our success
-	SIMD_FORCE_INLINE unsigned int getHash() const
-	{
-		unsigned int key = m_uid;
-		// Thomas Wang's hash
-		key += ~(key << 15);
-		key ^= (key >> 10);
-		key += (key << 3);
-		key ^= (key >> 6);
-		key += ~(key << 11);
-		key ^= (key >> 16);
-		return key;
-	}
-};
-
-template <class Value>
-class btHashKey
-{
-	int m_uid;
-
-public:
-	btHashKey(int uid) : m_uid(uid)
-	{
-	}
-
-	int getUid1() const
-	{
-		return m_uid;
-	}
-
-	bool equals(const btHashKey<Value>& other) const
-	{
-		return getUid1() == other.getUid1();
-	}
-	//to our success
-	SIMD_FORCE_INLINE unsigned int getHash() const
-	{
-		unsigned int key = m_uid;
-		// Thomas Wang's hash
-		key += ~(key << 15);
-		key ^= (key >> 10);
-		key += (key << 3);
-		key ^= (key >> 6);
-		key += ~(key << 11);
-		key ^= (key >> 16);
-		return key;
-	}
-};
-
-///The btHashMap template class implements a generic and lightweight hashmap.
-///A basic sample of how to use btHashMap is located in Demos\BasicDemo\main.cpp
-template <class Key, class Value>
-class btHashMap
-{
-protected:
-	btAlignedObjectArray<int> m_hashTable;
-	btAlignedObjectArray<int> m_next;
-
-	btAlignedObjectArray<Value> m_valueArray;
-	btAlignedObjectArray<Key> m_keyArray;
-
-	void growTables(const Key& /*key*/)
-	{
-		int newCapacity = m_valueArray.capacity();
-
-		if (m_hashTable.size() < newCapacity)
-		{
-			//grow hashtable and next table
-			int curHashtableSize = m_hashTable.size();
-
-			m_hashTable.resize(newCapacity);
-			m_next.resize(newCapacity);
-
-			int i;
-
-			for (i = 0; i < newCapacity; ++i)
-			{
-				m_hashTable[i] = BT_HASH_NULL;
-			}
-			for (i = 0; i < newCapacity; ++i)
-			{
-				m_next[i] = BT_HASH_NULL;
-			}
-
-			for (i = 0; i < curHashtableSize; i++)
-			{
-				//const Value& value = m_valueArray[i];
-				//const Key& key = m_keyArray[i];
-
-				int hashValue = m_keyArray[i].getHash() & (m_valueArray.capacity() - 1);  // New hash value with new mask
-				m_next[i] = m_hashTable[hashValue];
-				m_hashTable[hashValue] = i;
-			}
-		}
-	}
-
-public:
-	void insert(const Key& key, const Value& value)
-	{
-		int hash = key.getHash() & (m_valueArray.capacity() - 1);
-
-		//replace value if the key is already there
-		int index = findIndex(key);
-		if (index != BT_HASH_NULL)
-		{
-			m_valueArray[index] = value;
-			return;
-		}
-
-		int count = m_valueArray.size();
-		int oldCapacity = m_valueArray.capacity();
-		m_valueArray.push_back(value);
-		m_keyArray.push_back(key);
-
-		int newCapacity = m_valueArray.capacity();
-		if (oldCapacity < newCapacity)
-		{
-			growTables(key);
-			//hash with new capacity
-			hash = key.getHash() & (m_valueArray.capacity() - 1);
-		}
-		m_next[count] = m_hashTable[hash];
-		m_hashTable[hash] = count;
-	}
-
-	void remove(const Key& key)
-	{
-		int hash = key.getHash() & (m_valueArray.capacity() - 1);
-
-		int pairIndex = findIndex(key);
-
-		if (pairIndex == BT_HASH_NULL)
-		{
-			return;
-		}
-
-		// Remove the pair from the hash table.
-		int index = m_hashTable[hash];
-		btAssert(index != BT_HASH_NULL);
-
-		int previous = BT_HASH_NULL;
-		while (index != pairIndex)
-		{
-			previous = index;
-			index = m_next[index];
-		}
-
-		if (previous != BT_HASH_NULL)
-		{
-			btAssert(m_next[previous] == pairIndex);
-			m_next[previous] = m_next[pairIndex];
-		}
-		else
-		{
-			m_hashTable[hash] = m_next[pairIndex];
-		}
-
-		// We now move the last pair into spot of the
-		// pair being removed. We need to fix the hash
-		// table indices to support the move.
-
-		int lastPairIndex = m_valueArray.size() - 1;
-
-		// If the removed pair is the last pair, we are done.
-		if (lastPairIndex == pairIndex)
-		{
-			m_valueArray.pop_back();
-			m_keyArray.pop_back();
-			return;
-		}
-
-		// Remove the last pair from the hash table.
-		int lastHash = m_keyArray[lastPairIndex].getHash() & (m_valueArray.capacity() - 1);
-
-		index = m_hashTable[lastHash];
-		btAssert(index != BT_HASH_NULL);
-
-		previous = BT_HASH_NULL;
-		while (index != lastPairIndex)
-		{
-			previous = index;
-			index = m_next[index];
-		}
-
-		if (previous != BT_HASH_NULL)
-		{
-			btAssert(m_next[previous] == lastPairIndex);
-			m_next[previous] = m_next[lastPairIndex];
-		}
-		else
-		{
-			m_hashTable[lastHash] = m_next[lastPairIndex];
-		}
-
-		// Copy the last pair into the remove pair's spot.
-		m_valueArray[pairIndex] = m_valueArray[lastPairIndex];
-		m_keyArray[pairIndex] = m_keyArray[lastPairIndex];
-
-		// Insert the last pair into the hash table
-		m_next[pairIndex] = m_hashTable[lastHash];
-		m_hashTable[lastHash] = pairIndex;
-
-		m_valueArray.pop_back();
-		m_keyArray.pop_back();
-	}
-
-	int size() const
-	{
-		return m_valueArray.size();
-	}
-
-	const Value* getAtIndex(int index) const
-	{
-		btAssert(index < m_valueArray.size());
-		btAssert(index >= 0);
-		if (index >= 0 && index < m_valueArray.size())
-		{
-			return &m_valueArray[index];
-		}
-		return 0;
-	}
-
-	Value* getAtIndex(int index)
-	{
-		btAssert(index < m_valueArray.size());
-		btAssert(index >= 0);
-		if (index >= 0 && index < m_valueArray.size())
-		{
-			return &m_valueArray[index];
-		}
-		return 0;
-	}
-
-	Key getKeyAtIndex(int index)
-	{
-		btAssert(index < m_keyArray.size());
-		btAssert(index >= 0);
-		return m_keyArray[index];
-	}
-
-	const Key getKeyAtIndex(int index) const
-	{
-		btAssert(index < m_keyArray.size());
-		btAssert(index >= 0);
-		return m_keyArray[index];
-	}
-
-	Value* operator[](const Key& key)
-	{
-		return find(key);
-	}
-
-	const Value* operator[](const Key& key) const
-	{
-		return find(key);
-	}
-
-	const Value* find(const Key& key) const
-	{
-		int index = findIndex(key);
-		if (index == BT_HASH_NULL)
-		{
-			return NULL;
-		}
-		return &m_valueArray[index];
-	}
-
-	Value* find(const Key& key)
-	{
-		int index = findIndex(key);
-		if (index == BT_HASH_NULL)
-		{
-			return NULL;
-		}
-		return &m_valueArray[index];
-	}
-
-	int findIndex(const Key& key) const
-	{
-		unsigned int hash = key.getHash() & (m_valueArray.capacity() - 1);
-
-		if (hash >= (unsigned int)m_hashTable.size())
-		{
-			return BT_HASH_NULL;
-		}
-
-		int index = m_hashTable[hash];
-		while ((index != BT_HASH_NULL) && key.equals(m_keyArray[index]) == false)
-		{
-			index = m_next[index];
-		}
-		return index;
-	}
-
-	void clear()
-	{
-		m_hashTable.clear();
-		m_next.clear();
-		m_valueArray.clear();
-		m_keyArray.clear();
-	}
-};
-
-#endif  //BT_HASH_MAP_H
diff --git a/thirdparty/bullet/LinearMath/btIDebugDraw.h b/thirdparty/bullet/LinearMath/btIDebugDraw.h
deleted file mode 100644
index df4db2ff5a..0000000000
--- a/thirdparty/bullet/LinearMath/btIDebugDraw.h
+++ /dev/null
@@ -1,473 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_IDEBUG_DRAW__H
-#define BT_IDEBUG_DRAW__H
-
-#include "btVector3.h"
-#include "btTransform.h"
-
-///The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
-///Typical use case: create a debug drawer object, and assign it to a btCollisionWorld or btDynamicsWorld using setDebugDrawer and call debugDrawWorld.
-///A class that implements the btIDebugDraw interface will need to provide non-empty implementations of the the drawLine and getDebugMode methods at a minimum.
-///For color arguments the X,Y,Z components refer to Red, Green and Blue each in the range [0..1]
-class btIDebugDraw
-{
-public:
-	ATTRIBUTE_ALIGNED16(struct)
-	DefaultColors
-	{
-		btVector3 m_activeObject;
-		btVector3 m_deactivatedObject;
-		btVector3 m_wantsDeactivationObject;
-		btVector3 m_disabledDeactivationObject;
-		btVector3 m_disabledSimulationObject;
-		btVector3 m_aabb;
-		btVector3 m_contactPoint;
-
-		DefaultColors()
-			: m_activeObject(1, 1, 1),
-			  m_deactivatedObject(0, 1, 0),
-			  m_wantsDeactivationObject(0, 1, 1),
-			  m_disabledDeactivationObject(1, 0, 0),
-			  m_disabledSimulationObject(1, 1, 0),
-			  m_aabb(1, 0, 0),
-			  m_contactPoint(1, 1, 0)
-		{
-		}
-	};
-
-	enum DebugDrawModes
-	{
-		DBG_NoDebug = 0,
-		DBG_DrawWireframe = 1,
-		DBG_DrawAabb = 2,
-		DBG_DrawFeaturesText = 4,
-		DBG_DrawContactPoints = 8,
-		DBG_NoDeactivation = 16,
-		DBG_NoHelpText = 32,
-		DBG_DrawText = 64,
-		DBG_ProfileTimings = 128,
-		DBG_EnableSatComparison = 256,
-		DBG_DisableBulletLCP = 512,
-		DBG_EnableCCD = 1024,
-		DBG_DrawConstraints = (1 << 11),
-		DBG_DrawConstraintLimits = (1 << 12),
-		DBG_FastWireframe = (1 << 13),
-		DBG_DrawNormals = (1 << 14),
-		DBG_DrawFrames = (1 << 15),
-		DBG_MAX_DEBUG_DRAW_MODE
-	};
-
-	virtual ~btIDebugDraw(){};
-
-	virtual DefaultColors getDefaultColors() const
-	{
-		DefaultColors colors;
-		return colors;
-	}
-	///the default implementation for setDefaultColors has no effect. A derived class can implement it and store the colors.
-	virtual void setDefaultColors(const DefaultColors& /*colors*/) {}
-
-	virtual void drawLine(const btVector3& from, const btVector3& to, const btVector3& color) = 0;
-
-	virtual void drawLine(const btVector3& from, const btVector3& to, const btVector3& fromColor, const btVector3& toColor)
-	{
-		(void)toColor;
-		drawLine(from, to, fromColor);
-	}
-
-	virtual void drawSphere(btScalar radius, const btTransform& transform, const btVector3& color)
-	{
-		btVector3 center = transform.getOrigin();
-		btVector3 up = transform.getBasis().getColumn(1);
-		btVector3 axis = transform.getBasis().getColumn(0);
-		btScalar minTh = -SIMD_HALF_PI;
-		btScalar maxTh = SIMD_HALF_PI;
-		btScalar minPs = -SIMD_HALF_PI;
-		btScalar maxPs = SIMD_HALF_PI;
-		btScalar stepDegrees = 30.f;
-		drawSpherePatch(center, up, axis, radius, minTh, maxTh, minPs, maxPs, color, stepDegrees, false);
-		drawSpherePatch(center, up, -axis, radius, minTh, maxTh, minPs, maxPs, color, stepDegrees, false);
-	}
-
-	virtual void drawSphere(const btVector3& p, btScalar radius, const btVector3& color)
-	{
-		btTransform tr;
-		tr.setIdentity();
-		tr.setOrigin(p);
-		drawSphere(radius, tr, color);
-	}
-
-	virtual void drawTriangle(const btVector3& v0, const btVector3& v1, const btVector3& v2, const btVector3& /*n0*/, const btVector3& /*n1*/, const btVector3& /*n2*/, const btVector3& color, btScalar alpha)
-	{
-		drawTriangle(v0, v1, v2, color, alpha);
-	}
-	virtual void drawTriangle(const btVector3& v0, const btVector3& v1, const btVector3& v2, const btVector3& color, btScalar /*alpha*/)
-	{
-		drawLine(v0, v1, color);
-		drawLine(v1, v2, color);
-		drawLine(v2, v0, color);
-	}
-
-	virtual void drawContactPoint(const btVector3& PointOnB, const btVector3& normalOnB, btScalar distance, int lifeTime, const btVector3& color) = 0;
-
-	virtual void reportErrorWarning(const char* warningString) = 0;
-
-	virtual void draw3dText(const btVector3& location, const char* textString) = 0;
-
-	virtual void setDebugMode(int debugMode) = 0;
-
-	virtual int getDebugMode() const = 0;
-
-	virtual void drawAabb(const btVector3& from, const btVector3& to, const btVector3& color)
-	{
-		btVector3 halfExtents = (to - from) * 0.5f;
-		btVector3 center = (to + from) * 0.5f;
-		int i, j;
-
-		btVector3 edgecoord(1.f, 1.f, 1.f), pa, pb;
-		for (i = 0; i < 4; i++)
-		{
-			for (j = 0; j < 3; j++)
-			{
-				pa = btVector3(edgecoord[0] * halfExtents[0], edgecoord[1] * halfExtents[1],
-							   edgecoord[2] * halfExtents[2]);
-				pa += center;
-
-				int othercoord = j % 3;
-				edgecoord[othercoord] *= -1.f;
-				pb = btVector3(edgecoord[0] * halfExtents[0], edgecoord[1] * halfExtents[1],
-							   edgecoord[2] * halfExtents[2]);
-				pb += center;
-
-				drawLine(pa, pb, color);
-			}
-			edgecoord = btVector3(-1.f, -1.f, -1.f);
-			if (i < 3)
-				edgecoord[i] *= -1.f;
-		}
-	}
-	virtual void drawTransform(const btTransform& transform, btScalar orthoLen)
-	{
-		btVector3 start = transform.getOrigin();
-		drawLine(start, start + transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(btScalar(1.), btScalar(0.3), btScalar(0.3)));
-		drawLine(start, start + transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(btScalar(0.3), btScalar(1.), btScalar(0.3)));
-		drawLine(start, start + transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(btScalar(0.3), btScalar(0.3), btScalar(1.)));
-	}
-
-	virtual void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle,
-						 const btVector3& color, bool drawSect, btScalar stepDegrees = btScalar(10.f))
-	{
-		const btVector3& vx = axis;
-		btVector3 vy = normal.cross(axis);
-		btScalar step = stepDegrees * SIMD_RADS_PER_DEG;
-		int nSteps = (int)btFabs((maxAngle - minAngle) / step);
-		if (!nSteps) nSteps = 1;
-		btVector3 prev = center + radiusA * vx * btCos(minAngle) + radiusB * vy * btSin(minAngle);
-		if (drawSect)
-		{
-			drawLine(center, prev, color);
-		}
-		for (int i = 1; i <= nSteps; i++)
-		{
-			btScalar angle = minAngle + (maxAngle - minAngle) * btScalar(i) / btScalar(nSteps);
-			btVector3 next = center + radiusA * vx * btCos(angle) + radiusB * vy * btSin(angle);
-			drawLine(prev, next, color);
-			prev = next;
-		}
-		if (drawSect)
-		{
-			drawLine(center, prev, color);
-		}
-	}
-	virtual void drawSpherePatch(const btVector3& center, const btVector3& up, const btVector3& axis, btScalar radius,
-								 btScalar minTh, btScalar maxTh, btScalar minPs, btScalar maxPs, const btVector3& color, btScalar stepDegrees = btScalar(10.f), bool drawCenter = true)
-	{
-		btVector3 vA[74];
-		btVector3 vB[74];
-		btVector3 *pvA = vA, *pvB = vB, *pT;
-		btVector3 npole = center + up * radius;
-		btVector3 spole = center - up * radius;
-		btVector3 arcStart;
-		btScalar step = stepDegrees * SIMD_RADS_PER_DEG;
-		const btVector3& kv = up;
-		const btVector3& iv = axis;
-		btVector3 jv = kv.cross(iv);
-		bool drawN = false;
-		bool drawS = false;
-		if (minTh <= -SIMD_HALF_PI)
-		{
-			minTh = -SIMD_HALF_PI + step;
-			drawN = true;
-		}
-		if (maxTh >= SIMD_HALF_PI)
-		{
-			maxTh = SIMD_HALF_PI - step;
-			drawS = true;
-		}
-		if (minTh > maxTh)
-		{
-			minTh = -SIMD_HALF_PI + step;
-			maxTh = SIMD_HALF_PI - step;
-			drawN = drawS = true;
-		}
-		int n_hor = (int)((maxTh - minTh) / step) + 1;
-		if (n_hor < 2) n_hor = 2;
-		btScalar step_h = (maxTh - minTh) / btScalar(n_hor - 1);
-		bool isClosed = false;
-		if (minPs > maxPs)
-		{
-			minPs = -SIMD_PI + step;
-			maxPs = SIMD_PI;
-			isClosed = true;
-		}
-		else if ((maxPs - minPs) >= SIMD_PI * btScalar(2.f))
-		{
-			isClosed = true;
-		}
-		else
-		{
-			isClosed = false;
-		}
-		int n_vert = (int)((maxPs - minPs) / step) + 1;
-		if (n_vert < 2) n_vert = 2;
-		btScalar step_v = (maxPs - minPs) / btScalar(n_vert - 1);
-		for (int i = 0; i < n_hor; i++)
-		{
-			btScalar th = minTh + btScalar(i) * step_h;
-			btScalar sth = radius * btSin(th);
-			btScalar cth = radius * btCos(th);
-			for (int j = 0; j < n_vert; j++)
-			{
-				btScalar psi = minPs + btScalar(j) * step_v;
-				btScalar sps = btSin(psi);
-				btScalar cps = btCos(psi);
-				pvB[j] = center + cth * cps * iv + cth * sps * jv + sth * kv;
-				if (i)
-				{
-					drawLine(pvA[j], pvB[j], color);
-				}
-				else if (drawS)
-				{
-					drawLine(spole, pvB[j], color);
-				}
-				if (j)
-				{
-					drawLine(pvB[j - 1], pvB[j], color);
-				}
-				else
-				{
-					arcStart = pvB[j];
-				}
-				if ((i == (n_hor - 1)) && drawN)
-				{
-					drawLine(npole, pvB[j], color);
-				}
-
-				if (drawCenter)
-				{
-					if (isClosed)
-					{
-						if (j == (n_vert - 1))
-						{
-							drawLine(arcStart, pvB[j], color);
-						}
-					}
-					else
-					{
-						if (((!i) || (i == (n_hor - 1))) && ((!j) || (j == (n_vert - 1))))
-						{
-							drawLine(center, pvB[j], color);
-						}
-					}
-				}
-			}
-			pT = pvA;
-			pvA = pvB;
-			pvB = pT;
-		}
-	}
-
-	virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btVector3& color)
-	{
-		drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
-		drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMin[2]), color);
-		drawLine(btVector3(bbMax[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMax[1], bbMin[2]), color);
-		drawLine(btVector3(bbMin[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMin[1], bbMin[2]), color);
-		drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
-		drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
-		drawLine(btVector3(bbMax[0], bbMax[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
-		drawLine(btVector3(bbMin[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
-		drawLine(btVector3(bbMin[0], bbMin[1], bbMax[2]), btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
-		drawLine(btVector3(bbMax[0], bbMin[1], bbMax[2]), btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
-		drawLine(btVector3(bbMax[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
-		drawLine(btVector3(bbMin[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
-	}
-	virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btTransform& trans, const btVector3& color)
-	{
-		drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
-		drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), color);
-		drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), color);
-		drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), color);
-		drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
-		drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
-		drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
-		drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
-		drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
-		drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
-		drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
-		drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
-	}
-
-	virtual void drawCapsule(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color)
-	{
-		int stepDegrees = 30;
-
-		btVector3 capStart(0.f, 0.f, 0.f);
-		capStart[upAxis] = -halfHeight;
-
-		btVector3 capEnd(0.f, 0.f, 0.f);
-		capEnd[upAxis] = halfHeight;
-
-		// Draw the ends
-		{
-			btTransform childTransform = transform;
-			childTransform.getOrigin() = transform * capStart;
-			{
-				btVector3 center = childTransform.getOrigin();
-				btVector3 up = childTransform.getBasis().getColumn((upAxis + 1) % 3);
-				btVector3 axis = -childTransform.getBasis().getColumn(upAxis);
-				btScalar minTh = -SIMD_HALF_PI;
-				btScalar maxTh = SIMD_HALF_PI;
-				btScalar minPs = -SIMD_HALF_PI;
-				btScalar maxPs = SIMD_HALF_PI;
-
-				drawSpherePatch(center, up, axis, radius, minTh, maxTh, minPs, maxPs, color, btScalar(stepDegrees), false);
-			}
-		}
-
-		{
-			btTransform childTransform = transform;
-			childTransform.getOrigin() = transform * capEnd;
-			{
-				btVector3 center = childTransform.getOrigin();
-				btVector3 up = childTransform.getBasis().getColumn((upAxis + 1) % 3);
-				btVector3 axis = childTransform.getBasis().getColumn(upAxis);
-				btScalar minTh = -SIMD_HALF_PI;
-				btScalar maxTh = SIMD_HALF_PI;
-				btScalar minPs = -SIMD_HALF_PI;
-				btScalar maxPs = SIMD_HALF_PI;
-				drawSpherePatch(center, up, axis, radius, minTh, maxTh, minPs, maxPs, color, btScalar(stepDegrees), false);
-			}
-		}
-
-		// Draw some additional lines
-		btVector3 start = transform.getOrigin();
-
-		for (int i = 0; i < 360; i += stepDegrees)
-		{
-			capEnd[(upAxis + 1) % 3] = capStart[(upAxis + 1) % 3] = btSin(btScalar(i) * SIMD_RADS_PER_DEG) * radius;
-			capEnd[(upAxis + 2) % 3] = capStart[(upAxis + 2) % 3] = btCos(btScalar(i) * SIMD_RADS_PER_DEG) * radius;
-			drawLine(start + transform.getBasis() * capStart, start + transform.getBasis() * capEnd, color);
-		}
-	}
-
-	virtual void drawCylinder(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color)
-	{
-		btVector3 start = transform.getOrigin();
-		btVector3 offsetHeight(0, 0, 0);
-		offsetHeight[upAxis] = halfHeight;
-		int stepDegrees = 30;
-		btVector3 capStart(0.f, 0.f, 0.f);
-		capStart[upAxis] = -halfHeight;
-		btVector3 capEnd(0.f, 0.f, 0.f);
-		capEnd[upAxis] = halfHeight;
-
-		for (int i = 0; i < 360; i += stepDegrees)
-		{
-			capEnd[(upAxis + 1) % 3] = capStart[(upAxis + 1) % 3] = btSin(btScalar(i) * SIMD_RADS_PER_DEG) * radius;
-			capEnd[(upAxis + 2) % 3] = capStart[(upAxis + 2) % 3] = btCos(btScalar(i) * SIMD_RADS_PER_DEG) * radius;
-			drawLine(start + transform.getBasis() * capStart, start + transform.getBasis() * capEnd, color);
-		}
-		// Drawing top and bottom caps of the cylinder
-		btVector3 yaxis(0, 0, 0);
-		yaxis[upAxis] = btScalar(1.0);
-		btVector3 xaxis(0, 0, 0);
-		xaxis[(upAxis + 1) % 3] = btScalar(1.0);
-		drawArc(start - transform.getBasis() * (offsetHeight), transform.getBasis() * yaxis, transform.getBasis() * xaxis, radius, radius, 0, SIMD_2_PI, color, false, btScalar(10.0));
-		drawArc(start + transform.getBasis() * (offsetHeight), transform.getBasis() * yaxis, transform.getBasis() * xaxis, radius, radius, 0, SIMD_2_PI, color, false, btScalar(10.0));
-	}
-
-	virtual void drawCone(btScalar radius, btScalar height, int upAxis, const btTransform& transform, const btVector3& color)
-	{
-		int stepDegrees = 30;
-		btVector3 start = transform.getOrigin();
-
-		btVector3 offsetHeight(0, 0, 0);
-		btScalar halfHeight = height * btScalar(0.5);
-		offsetHeight[upAxis] = halfHeight;
-		btVector3 offsetRadius(0, 0, 0);
-		offsetRadius[(upAxis + 1) % 3] = radius;
-		btVector3 offset2Radius(0, 0, 0);
-		offset2Radius[(upAxis + 2) % 3] = radius;
-
-		btVector3 capEnd(0.f, 0.f, 0.f);
-		capEnd[upAxis] = -halfHeight;
-
-		for (int i = 0; i < 360; i += stepDegrees)
-		{
-			capEnd[(upAxis + 1) % 3] = btSin(btScalar(i) * SIMD_RADS_PER_DEG) * radius;
-			capEnd[(upAxis + 2) % 3] = btCos(btScalar(i) * SIMD_RADS_PER_DEG) * radius;
-			drawLine(start + transform.getBasis() * (offsetHeight), start + transform.getBasis() * capEnd, color);
-		}
-
-		drawLine(start + transform.getBasis() * (offsetHeight), start + transform.getBasis() * (-offsetHeight + offsetRadius), color);
-		drawLine(start + transform.getBasis() * (offsetHeight), start + transform.getBasis() * (-offsetHeight - offsetRadius), color);
-		drawLine(start + transform.getBasis() * (offsetHeight), start + transform.getBasis() * (-offsetHeight + offset2Radius), color);
-		drawLine(start + transform.getBasis() * (offsetHeight), start + transform.getBasis() * (-offsetHeight - offset2Radius), color);
-
-		// Drawing the base of the cone
-		btVector3 yaxis(0, 0, 0);
-		yaxis[upAxis] = btScalar(1.0);
-		btVector3 xaxis(0, 0, 0);
-		xaxis[(upAxis + 1) % 3] = btScalar(1.0);
-		drawArc(start - transform.getBasis() * (offsetHeight), transform.getBasis() * yaxis, transform.getBasis() * xaxis, radius, radius, 0, SIMD_2_PI, color, false, 10.0);
-	}
-
-	virtual void drawPlane(const btVector3& planeNormal, btScalar planeConst, const btTransform& transform, const btVector3& color)
-	{
-		btVector3 planeOrigin = planeNormal * planeConst;
-		btVector3 vec0, vec1;
-		btPlaneSpace1(planeNormal, vec0, vec1);
-		btScalar vecLen = 100.f;
-		btVector3 pt0 = planeOrigin + vec0 * vecLen;
-		btVector3 pt1 = planeOrigin - vec0 * vecLen;
-		btVector3 pt2 = planeOrigin + vec1 * vecLen;
-		btVector3 pt3 = planeOrigin - vec1 * vecLen;
-		drawLine(transform * pt0, transform * pt1, color);
-		drawLine(transform * pt2, transform * pt3, color);
-	}
-
-	virtual void clearLines()
-	{
-	}
-
-	virtual void flushLines()
-	{
-	}
-};
-
-#endif  //BT_IDEBUG_DRAW__H
diff --git a/thirdparty/bullet/LinearMath/btImplicitQRSVD.h b/thirdparty/bullet/LinearMath/btImplicitQRSVD.h
deleted file mode 100644
index aaedc964f6..0000000000
--- a/thirdparty/bullet/LinearMath/btImplicitQRSVD.h
+++ /dev/null
@@ -1,916 +0,0 @@
-/**
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google 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.
- 
- Copyright (c) 2016 Theodore Gast, Chuyuan Fu, Chenfanfu Jiang, Joseph Teran
- 
- Permission is hereby granted, free of charge, to any person obtaining a copy of
- this software and associated documentation files (the "Software"), to deal in
- the Software without restriction, including without limitation the rights to
- use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
- of the Software, and to permit persons to whom the Software is furnished to do
- so, subject to the following conditions:
- 
- The above copyright notice and this permission notice shall be included in all
- copies or substantial portions of the Software.
- 
- If the code is used in an article, the following paper shall be cited:
- @techreport{qrsvd:2016,
- title={Implicit-shifted Symmetric QR Singular Value Decomposition of 3x3 Matrices},
- author={Gast, Theodore and Fu, Chuyuan and Jiang, Chenfanfu and Teran, Joseph},
- year={2016},
- institution={University of California Los Angeles}
- }
- 
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- SOFTWARE.
-**/
-
-#ifndef btImplicitQRSVD_h
-#define btImplicitQRSVD_h
-#include <limits>
-#include "btMatrix3x3.h"
-class btMatrix2x2
-{
-public:
-    btScalar m_00, m_01, m_10, m_11;
-    btMatrix2x2(): m_00(0), m_10(0), m_01(0), m_11(0)
-    {
-    }
-    btMatrix2x2(const btMatrix2x2& other): m_00(other.m_00),m_01(other.m_01),m_10(other.m_10),m_11(other.m_11)
-    {}
-    btScalar& operator()(int i, int j)
-    {
-        if (i == 0 && j == 0)
-            return m_00;
-        if (i == 1 && j == 0)
-            return m_10;
-        if (i == 0 && j == 1)
-            return m_01;
-        if (i == 1 && j == 1)
-            return m_11;
-        btAssert(false);
-        return m_00;
-    }
-    const btScalar& operator()(int i, int j) const
-    {
-        if (i == 0 && j == 0)
-            return m_00;
-        if (i == 1 && j == 0)
-            return m_10;
-        if (i == 0 && j == 1)
-            return m_01;
-        if (i == 1 && j == 1)
-            return m_11;
-        btAssert(false);
-        return m_00;
-    }
-    void setIdentity()
-    {
-        m_00 = 1;
-        m_11 = 1;
-        m_01 = 0;
-        m_10 = 0;
-    }
-};
-
-static inline btScalar copySign(btScalar x, btScalar y) {
-    if ((x < 0 && y > 0) || (x > 0 && y < 0))
-        return -x;
-    return x;
-}
-
-/**
- Class for givens rotation.
- Row rotation G*A corresponds to something like
- c -s  0
- ( s  c  0 ) A
- 0  0  1
- Column rotation A G' corresponds to something like
- c -s  0
- A ( s  c  0 )
- 0  0  1
- 
- c and s are always computed so that
- ( c -s ) ( a )  =  ( * )
- s  c     b       ( 0 )
- 
- Assume rowi<rowk.
- */
-
-class GivensRotation {
-public:
-    int rowi;
-    int rowk;
-    btScalar c;
-    btScalar s;
-    
-    inline GivensRotation(int rowi_in, int rowk_in)
-    : rowi(rowi_in)
-    , rowk(rowk_in)
-    , c(1)
-    , s(0)
-    {
-    }
-    
-    inline GivensRotation(btScalar a, btScalar b, int rowi_in, int rowk_in)
-    : rowi(rowi_in)
-    , rowk(rowk_in)
-    {
-        compute(a, b);
-    }
-    
-    ~GivensRotation() {}
-    
-    inline void transposeInPlace()
-    {
-        s = -s;
-    }
-    
-    /**
-     Compute c and s from a and b so that
-     ( c -s ) ( a )  =  ( * )
-     s  c     b       ( 0 )
-     */
-    inline void compute(const btScalar a, const btScalar b)
-    {
-        btScalar d = a * a + b * b;
-        c = 1;
-        s = 0;
-        if (d > SIMD_EPSILON) {
-            btScalar sqrtd = btSqrt(d);
-            if (sqrtd>SIMD_EPSILON)
-            {
-              btScalar t = btScalar(1.0)/sqrtd;
-              c = a * t;
-              s = -b * t;
-            }
-        }
-    }
-    
-    /**
-     This function computes c and s so that
-     ( c -s ) ( a )  =  ( 0 )
-     s  c     b       ( * )
-     */
-    inline void computeUnconventional(const btScalar a, const btScalar b)
-    {
-        btScalar d = a * a + b * b;
-        c = 0;
-        s = 1;
-        if (d > SIMD_EPSILON) {
-            btScalar t = btScalar(1.0)/btSqrt(d);
-            s = a * t;
-            c = b * t;
-        }
-    }
-    /**
-     Fill the R with the entries of this rotation
-     */
-    inline void fill(const btMatrix3x3& R) const
-    {
-        btMatrix3x3& A = const_cast<btMatrix3x3&>(R);
-        A.setIdentity();
-        A[rowi][rowi] = c;
-        A[rowk][rowi] = -s;
-        A[rowi][rowk] = s;
-        A[rowk][rowk] = c;
-    }
-    
-    inline void fill(const btMatrix2x2& R) const
-    {
-        btMatrix2x2& A = const_cast<btMatrix2x2&>(R);
-        A(rowi,rowi) = c;
-        A(rowk,rowi) = -s;
-        A(rowi,rowk) = s;
-        A(rowk,rowk) = c;
-    }
-    
-    /**
-     This function does something like
-     c -s  0
-     ( s  c  0 ) A -> A
-     0  0  1
-     It only affects row i and row k of A.
-     */
-    inline void rowRotation(btMatrix3x3& A) const
-    {
-        for (int j = 0; j < 3; j++) {
-            btScalar tau1 = A[rowi][j];
-            btScalar tau2 = A[rowk][j];
-            A[rowi][j] = c * tau1 - s * tau2;
-            A[rowk][j] = s * tau1 + c * tau2;
-        }
-    }
-    inline void rowRotation(btMatrix2x2& A) const
-    {
-        for (int j = 0; j < 2; j++) {
-            btScalar tau1 = A(rowi,j);
-            btScalar tau2 = A(rowk,j);
-            A(rowi,j) = c * tau1 - s * tau2;
-            A(rowk,j) = s * tau1 + c * tau2;
-        }
-    }
-    
-    /**
-     This function does something like
-     c  s  0
-     A ( -s  c  0 )  -> A
-     0  0  1
-     It only affects column i and column k of A.
-     */
-    inline void columnRotation(btMatrix3x3& A) const
-    {
-        for (int j = 0; j < 3; j++) {
-            btScalar tau1 = A[j][rowi];
-            btScalar tau2 = A[j][rowk];
-            A[j][rowi] = c * tau1 - s * tau2;
-            A[j][rowk] = s * tau1 + c * tau2;
-        }
-    }
-    inline void columnRotation(btMatrix2x2& A) const
-    {
-        for (int j = 0; j < 2; j++) {
-            btScalar tau1 = A(j,rowi);
-            btScalar tau2 = A(j,rowk);
-            A(j,rowi) = c * tau1 - s * tau2;
-            A(j,rowk) = s * tau1 + c * tau2;
-        }
-    }
-    
-    /**
-     Multiply givens must be for same row and column
-     **/
-    inline void operator*=(const GivensRotation& A)
-    {
-        btScalar new_c = c * A.c - s * A.s;
-        btScalar new_s = s * A.c + c * A.s;
-        c = new_c;
-        s = new_s;
-    }
-    
-    /**
-     Multiply givens must be for same row and column
-     **/
-    inline GivensRotation operator*(const GivensRotation& A) const
-    {
-        GivensRotation r(*this);
-        r *= A;
-        return r;
-    }
-};
-
-/**
- \brief zero chasing the 3X3 matrix to bidiagonal form
- original form of H:   x x 0
- x x x
- 0 0 x
- after zero chase:
- x x 0
- 0 x x
- 0 0 x
- */
-inline void zeroChase(btMatrix3x3& H, btMatrix3x3& U, btMatrix3x3& V)
-{
-    
-    /**
-     Reduce H to of form
-     x x +
-     0 x x
-     0 0 x
-     */
-    GivensRotation r1(H[0][0], H[1][0], 0, 1);
-    /**
-     Reduce H to of form
-     x x 0
-     0 x x
-     0 + x
-     Can calculate r2 without multiplying by r1 since both entries are in first two
-     rows thus no need to divide by sqrt(a^2+b^2)
-     */
-    GivensRotation r2(1, 2);
-    if (H[1][0] != 0)
-        r2.compute(H[0][0] * H[0][1] + H[1][0] * H[1][1], H[0][0] * H[0][2] + H[1][0] * H[1][2]);
-    else
-        r2.compute(H[0][1], H[0][2]);
-    
-    r1.rowRotation(H);
-    
-    /* GivensRotation<T> r2(H(0, 1), H(0, 2), 1, 2); */
-    r2.columnRotation(H);
-    r2.columnRotation(V);
-    
-    /**
-     Reduce H to of form
-     x x 0
-     0 x x
-     0 0 x
-     */
-    GivensRotation r3(H[1][1], H[2][1], 1, 2);
-    r3.rowRotation(H);
-    
-    // Save this till end for better cache coherency
-    // r1.rowRotation(u_transpose);
-    // r3.rowRotation(u_transpose);
-    r1.columnRotation(U);
-    r3.columnRotation(U);
-}
-
-/**
- \brief make a 3X3 matrix to upper bidiagonal form
- original form of H:   x x x
- x x x
- x x x
- after zero chase:
- x x 0
- 0 x x
- 0 0 x
- */
-inline void makeUpperBidiag(btMatrix3x3& H, btMatrix3x3& U, btMatrix3x3& V)
-{
-    U.setIdentity();
-    V.setIdentity();
-    
-    /**
-     Reduce H to of form
-     x x x
-     x x x
-     0 x x
-     */
-    
-    GivensRotation r(H[1][0], H[2][0], 1, 2);
-    r.rowRotation(H);
-    // r.rowRotation(u_transpose);
-    r.columnRotation(U);
-    // zeroChase(H, u_transpose, V);
-    zeroChase(H, U, V);
-}
-
-/**
- \brief make a 3X3 matrix to lambda shape
- original form of H:   x x x
- *                     x x x
- *                     x x x
- after :
- *                     x 0 0
- *                     x x 0
- *                     x 0 x
- */
-inline void makeLambdaShape(btMatrix3x3& H, btMatrix3x3& U, btMatrix3x3& V)
-{
-    U.setIdentity();
-    V.setIdentity();
-    
-    /**
-     Reduce H to of form
-     *                    x x 0
-     *                    x x x
-     *                    x x x
-     */
-    
-    GivensRotation r1(H[0][1], H[0][2], 1, 2);
-    r1.columnRotation(H);
-    r1.columnRotation(V);
-    
-    /**
-     Reduce H to of form
-     *                    x x 0
-     *                    x x 0
-     *                    x x x
-     */
-    
-    r1.computeUnconventional(H[1][2], H[2][2]);
-    r1.rowRotation(H);
-    r1.columnRotation(U);
-    
-    /**
-     Reduce H to of form
-     *                    x x 0
-     *                    x x 0
-     *                    x 0 x
-     */
-    
-    GivensRotation r2(H[2][0], H[2][1], 0, 1);
-    r2.columnRotation(H);
-    r2.columnRotation(V);
-    
-    /**
-     Reduce H to of form
-     *                    x 0 0
-     *                    x x 0
-     *                    x 0 x
-     */
-    r2.computeUnconventional(H[0][1], H[1][1]);
-    r2.rowRotation(H);
-    r2.columnRotation(U);
-}
-
-/**
- \brief 2x2 polar decomposition.
- \param[in] A matrix.
- \param[out] R Robustly a rotation matrix.
- \param[out] S_Sym Symmetric. Whole matrix is stored
- 
- Polar guarantees negative sign is on the small magnitude singular value.
- S is guaranteed to be the closest one to identity.
- R is guaranteed to be the closest rotation to A.
- */
-inline void polarDecomposition(const btMatrix2x2& A,
-                   GivensRotation& R,
-                   const btMatrix2x2& S_Sym)
-{
-    btScalar a = (A(0, 0) + A(1, 1)),  b = (A(1, 0) - A(0, 1));
-    btScalar denominator = btSqrt(a*a+b*b);
-    R.c = (btScalar)1;
-    R.s = (btScalar)0;
-    if (denominator > SIMD_EPSILON) { 
-        /*
-         No need to use a tolerance here because x(0) and x(1) always have
-         smaller magnitude then denominator, therefore overflow never happens.
-         In Bullet, we use a tolerance anyway.
-         */
-        R.c = a / denominator;
-        R.s = -b / denominator;
-    }
-    btMatrix2x2& S = const_cast<btMatrix2x2&>(S_Sym);
-    S = A;
-    R.rowRotation(S);
-}
-
-inline void polarDecomposition(const btMatrix2x2& A,
-                   const btMatrix2x2& R,
-                   const btMatrix2x2& S_Sym)
-{
-    GivensRotation r(0, 1);
-    polarDecomposition(A, r, S_Sym);
-    r.fill(R);
-}
-
-/**
- \brief 2x2 SVD (singular value decomposition) A=USV'
- \param[in] A Input matrix.
- \param[out] U Robustly a rotation matrix in Givens form
- \param[out] Sigma matrix of singular values sorted with decreasing magnitude. The second one can be negative.
- \param[out] V Robustly a rotation matrix in Givens form
- */
-inline void singularValueDecomposition(
-                           const btMatrix2x2& A,
-                           GivensRotation& U,
-                           const btMatrix2x2& Sigma,
-                           GivensRotation& V,
-                           const btScalar tol = 64 * std::numeric_limits<btScalar>::epsilon())
-{
-    btMatrix2x2& sigma = const_cast<btMatrix2x2&>(Sigma);
-    sigma.setIdentity();
-    btMatrix2x2 S_Sym;
-    polarDecomposition(A, U, S_Sym);
-    btScalar cosine, sine;
-    btScalar x = S_Sym(0, 0);
-    btScalar y = S_Sym(0, 1);
-    btScalar z = S_Sym(1, 1);
-    if (y == 0) {
-        // S is already diagonal
-        cosine = 1;
-        sine = 0;
-        sigma(0,0) = x;
-        sigma(1,1) = z;
-    }
-    else {
-        btScalar tau = 0.5 * (x - z);
-        btScalar val = tau * tau + y * y;
-        if (val > SIMD_EPSILON)
-        {
-        btScalar w = btSqrt(val);
-        // w > y > 0
-        btScalar t;
-        if (tau > 0) {
-            // tau + w > w > y > 0 ==> division is safe
-            t = y / (tau + w);
-        }
-        else {
-            // tau - w < -w < -y < 0 ==> division is safe
-            t = y / (tau - w);
-        }
-        cosine = btScalar(1) / btSqrt(t * t + btScalar(1));
-        sine = -t * cosine;
-        /*
-         V = [cosine -sine; sine cosine]
-         Sigma = V'SV. Only compute the diagonals for efficiency.
-         Also utilize symmetry of S and don't form V yet.
-         */
-        btScalar c2 = cosine * cosine;
-        btScalar csy = 2 * cosine * sine * y;
-        btScalar s2 = sine * sine;
-        sigma(0,0) = c2 * x - csy + s2 * z;
-        sigma(1,1) = s2 * x + csy + c2 * z;
-      } else
-      	{
-      		cosine = 1;
-        sine = 0;
-        sigma(0,0) = x;
-        sigma(1,1) = z;
-      	}
-    }
-    
-    // Sorting
-    // Polar already guarantees negative sign is on the small magnitude singular value.
-    if (sigma(0,0) < sigma(1,1)) {
-        std::swap(sigma(0,0), sigma(1,1));
-        V.c = -sine;
-        V.s = cosine;
-    }
-    else {
-        V.c = cosine;
-        V.s = sine;
-    }
-    U *= V;
-}
-
-/**
- \brief 2x2 SVD (singular value decomposition) A=USV'
- \param[in] A Input matrix.
- \param[out] U Robustly a rotation matrix.
- \param[out] Sigma Vector of singular values sorted with decreasing magnitude. The second one can be negative.
- \param[out] V Robustly a rotation matrix.
- */
-inline void singularValueDecomposition(
-                           const btMatrix2x2& A,
-                           const btMatrix2x2& U,
-                           const btMatrix2x2& Sigma,
-                           const btMatrix2x2& V,
-                           const btScalar tol = 64 * std::numeric_limits<btScalar>::epsilon())
-{
-    GivensRotation gv(0, 1);
-    GivensRotation gu(0, 1);
-    singularValueDecomposition(A, gu, Sigma, gv);
-    
-    gu.fill(U);
-    gv.fill(V);
-}
-
-/**
- \brief compute wilkinsonShift of the block
- a1     b1
- b1     a2
- based on the wilkinsonShift formula
- mu = c + d - sign (d) \ sqrt (d*d + b*b), where d = (a-c)/2
- 
- */
-inline btScalar wilkinsonShift(const btScalar a1, const btScalar b1, const btScalar a2)
-{
-	btScalar d = (btScalar)0.5 * (a1 - a2);
-	btScalar bs = b1 * b1;
-	btScalar val = d * d + bs;
-	if (val>SIMD_EPSILON)
-	{
-		btScalar denom = btFabs(d) + btSqrt(val);
-
-		btScalar mu = a2 - copySign(bs / (denom), d);
-		// T mu = a2 - bs / ( d + sign_d*sqrt (d*d + bs));
-		return mu;
-	}
-	return a2;
-}
-
-/**
- \brief Helper function of 3X3 SVD for processing 2X2 SVD
- */
-template <int t>
-inline void process(btMatrix3x3& B, btMatrix3x3& U, btVector3& sigma, btMatrix3x3& V)
-{
-    int other = (t == 1) ? 0 : 2;
-    GivensRotation u(0, 1);
-    GivensRotation v(0, 1);
-    sigma[other] = B[other][other];
-    
-    btMatrix2x2 B_sub, sigma_sub;
-    if (t == 0)
-    {
-        B_sub.m_00 = B[0][0];
-        B_sub.m_10 = B[1][0];
-        B_sub.m_01 = B[0][1];
-        B_sub.m_11 = B[1][1];
-        sigma_sub.m_00 = sigma[0];
-        sigma_sub.m_11 = sigma[1];
-//        singularValueDecomposition(B.template block<2, 2>(t, t), u, sigma.template block<2, 1>(t, 0), v);
-        singularValueDecomposition(B_sub, u, sigma_sub, v);
-        B[0][0] = B_sub.m_00;
-        B[1][0] = B_sub.m_10;
-        B[0][1] = B_sub.m_01;
-        B[1][1] = B_sub.m_11;
-        sigma[0] = sigma_sub.m_00;
-        sigma[1] = sigma_sub.m_11;
-    }
-    else
-    {
-        B_sub.m_00 = B[1][1];
-        B_sub.m_10 = B[2][1];
-        B_sub.m_01 = B[1][2];
-        B_sub.m_11 = B[2][2];
-        sigma_sub.m_00 = sigma[1];
-        sigma_sub.m_11 = sigma[2];
-        //        singularValueDecomposition(B.template block<2, 2>(t, t), u, sigma.template block<2, 1>(t, 0), v);
-        singularValueDecomposition(B_sub, u, sigma_sub, v);
-        B[1][1] = B_sub.m_00;
-        B[2][1] = B_sub.m_10;
-        B[1][2] = B_sub.m_01;
-        B[2][2] = B_sub.m_11;
-        sigma[1] = sigma_sub.m_00;
-        sigma[2] = sigma_sub.m_11;
-    }
-    u.rowi += t;
-    u.rowk += t;
-    v.rowi += t;
-    v.rowk += t;
-    u.columnRotation(U);
-    v.columnRotation(V);
-}
-
-/**
- \brief Helper function of 3X3 SVD for flipping signs due to flipping signs of sigma
- */
-inline void flipSign(int i, btMatrix3x3& U, btVector3& sigma)
-{
-    sigma[i] = -sigma[i];
-    U[0][i] = -U[0][i];
-    U[1][i] = -U[1][i];
-    U[2][i] = -U[2][i];
-}
-
-inline void flipSign(int i, btMatrix3x3& U)
-{
-    U[0][i] = -U[0][i];
-    U[1][i] = -U[1][i];
-    U[2][i] = -U[2][i];
-}
-
-inline void swapCol(btMatrix3x3& A, int i, int j)
-{
-    for (int d = 0; d < 3; ++d)
-        std::swap(A[d][i], A[d][j]);
-}
-/**
- \brief Helper function of 3X3 SVD for sorting singular values
- */
-inline void sort(btMatrix3x3& U, btVector3& sigma, btMatrix3x3& V, int t)
-{
-    if (t == 0)
-    {
-        // Case: sigma(0) > |sigma(1)| >= |sigma(2)|
-        if (btFabs(sigma[1]) >= btFabs(sigma[2])) {
-            if (sigma[1] < 0) {
-                flipSign(1, U, sigma);
-                flipSign(2, U, sigma);
-            }
-            return;
-        }
-        
-        //fix sign of sigma for both cases
-        if (sigma[2] < 0) {
-            flipSign(1, U, sigma);
-            flipSign(2, U, sigma);
-        }
-        
-        //swap sigma(1) and sigma(2) for both cases
-        std::swap(sigma[1], sigma[2]);
-        // swap the col 1 and col 2 for U,V
-        swapCol(U,1,2);
-        swapCol(V,1,2);
-        
-        // Case: |sigma(2)| >= sigma(0) > |simga(1)|
-        if (sigma[1] > sigma[0]) {
-            std::swap(sigma[0], sigma[1]);
-            swapCol(U,0,1);
-            swapCol(V,0,1);
-        }
-        
-        // Case: sigma(0) >= |sigma(2)| > |simga(1)|
-        else {
-            flipSign(2, U);
-            flipSign(2, V);
-        }
-    }
-    else if (t == 1)
-    {
-        // Case: |sigma(0)| >= sigma(1) > |sigma(2)|
-        if (btFabs(sigma[0]) >= sigma[1]) {
-            if (sigma[0] < 0) {
-                flipSign(0, U, sigma);
-                flipSign(2, U, sigma);
-            }
-            return;
-        }
-        
-        //swap sigma(0) and sigma(1) for both cases
-        std::swap(sigma[0], sigma[1]);
-        swapCol(U, 0, 1);
-        swapCol(V, 0, 1);
-        
-        // Case: sigma(1) > |sigma(2)| >= |sigma(0)|
-        if (btFabs(sigma[1]) < btFabs(sigma[2])) {
-            std::swap(sigma[1], sigma[2]);
-            swapCol(U, 1, 2);
-            swapCol(V, 1, 2);
-        }
-        
-        // Case: sigma(1) >= |sigma(0)| > |sigma(2)|
-        else {
-            flipSign(1, U);
-            flipSign(1, V);
-        }
-        
-        // fix sign for both cases
-        if (sigma[1] < 0) {
-            flipSign(1, U, sigma);
-            flipSign(2, U, sigma);
-        }
-    }
-}
-
-/**
- \brief 3X3 SVD (singular value decomposition) A=USV'
- \param[in] A Input matrix.
- \param[out] U is a rotation matrix.
- \param[out] sigma Diagonal matrix, sorted with decreasing magnitude. The third one can be negative.
- \param[out] V is a rotation matrix.
- */
-inline int singularValueDecomposition(const btMatrix3x3& A,
-                                     btMatrix3x3& U,
-                                     btVector3& sigma,
-                                     btMatrix3x3& V,
-                                     btScalar tol = 128*std::numeric_limits<btScalar>::epsilon())
-{
-//    using std::fabs;
-    btMatrix3x3 B = A;
-    U.setIdentity();
-    V.setIdentity();
-    
-    makeUpperBidiag(B, U, V);
-    
-    int count = 0;
-    btScalar mu = (btScalar)0;
-    GivensRotation r(0, 1);
-    
-    btScalar alpha_1 = B[0][0];
-    btScalar beta_1 = B[0][1];
-    btScalar alpha_2 = B[1][1];
-    btScalar alpha_3 = B[2][2];
-    btScalar beta_2 = B[1][2];
-    btScalar gamma_1 = alpha_1 * beta_1;
-    btScalar gamma_2 = alpha_2 * beta_2;
-    btScalar val = alpha_1 * alpha_1 + alpha_2 * alpha_2 + alpha_3 * alpha_3 + beta_1 * beta_1 + beta_2 * beta_2;
-    if (val > SIMD_EPSILON)
-    {
-	    tol *= btMax((btScalar)0.5 * btSqrt(val), (btScalar)1);
-		}    
-    /**
-     Do implicit shift QR until A^T A is block diagonal
-     */
-    int max_count = 100;
-    
-    while (btFabs(beta_2) > tol && btFabs(beta_1) > tol
-           && btFabs(alpha_1) > tol && btFabs(alpha_2) > tol
-           && btFabs(alpha_3) > tol
-           && count < max_count) {
-        mu = wilkinsonShift(alpha_2 * alpha_2 + beta_1 * beta_1, gamma_2, alpha_3 * alpha_3 + beta_2 * beta_2);
-        
-        r.compute(alpha_1 * alpha_1 - mu, gamma_1);
-        r.columnRotation(B);
-        
-        r.columnRotation(V);
-        zeroChase(B, U, V);
-        
-        alpha_1 = B[0][0];
-        beta_1 = B[0][1];
-        alpha_2 = B[1][1];
-        alpha_3 = B[2][2];
-        beta_2 = B[1][2];
-        gamma_1 = alpha_1 * beta_1;
-        gamma_2 = alpha_2 * beta_2;
-        count++;
-    }
-    /**
-     Handle the cases of one of the alphas and betas being 0
-     Sorted by ease of handling and then frequency
-     of occurrence
-     
-     If B is of form
-     x x 0
-     0 x 0
-     0 0 x
-     */
-    if (btFabs(beta_2) <= tol) {
-        process<0>(B, U, sigma, V);
-        sort(U, sigma, V,0);
-    }
-    /**
-     If B is of form
-     x 0 0
-     0 x x
-     0 0 x
-     */
-    else if (btFabs(beta_1) <= tol) {
-        process<1>(B, U, sigma, V);
-        sort(U, sigma, V,1);
-    }
-    /**
-     If B is of form
-     x x 0
-     0 0 x
-     0 0 x
-     */
-    else if (btFabs(alpha_2) <= tol) {
-        /**
-         Reduce B to
-         x x 0
-         0 0 0
-         0 0 x
-         */
-        GivensRotation r1(1, 2);
-        r1.computeUnconventional(B[1][2], B[2][2]);
-        r1.rowRotation(B);
-        r1.columnRotation(U);
-        
-        process<0>(B, U, sigma, V);
-        sort(U, sigma, V, 0);
-    }
-    /**
-     If B is of form
-     x x 0
-     0 x x
-     0 0 0
-     */
-    else if (btFabs(alpha_3) <= tol) {
-        /**
-         Reduce B to
-         x x +
-         0 x 0
-         0 0 0
-         */
-        GivensRotation r1(1, 2);
-        r1.compute(B[1][1], B[1][2]);
-        r1.columnRotation(B);
-        r1.columnRotation(V);
-        /**
-         Reduce B to
-         x x 0
-         + x 0
-         0 0 0
-         */
-        GivensRotation r2(0, 2);
-        r2.compute(B[0][0], B[0][2]);
-        r2.columnRotation(B);
-        r2.columnRotation(V);
-        
-        process<0>(B, U, sigma, V);
-        sort(U, sigma, V, 0);
-    }
-    /**
-     If B is of form
-     0 x 0
-     0 x x
-     0 0 x
-     */
-    else if (btFabs(alpha_1) <= tol) {
-        /**
-         Reduce B to
-         0 0 +
-         0 x x
-         0 0 x
-         */
-        GivensRotation r1(0, 1);
-        r1.computeUnconventional(B[0][1], B[1][1]);
-        r1.rowRotation(B);
-        r1.columnRotation(U);
-        
-        /**
-         Reduce B to
-         0 0 0
-         0 x x
-         0 + x
-         */
-        GivensRotation r2(0, 2);
-        r2.computeUnconventional(B[0][2], B[2][2]);
-        r2.rowRotation(B);
-        r2.columnRotation(U);
-        
-        process<1>(B, U, sigma, V);
-        sort(U, sigma, V, 1);
-    }
-    
-    return count;
-}
-#endif /* btImplicitQRSVD_h */
diff --git a/thirdparty/bullet/LinearMath/btList.h b/thirdparty/bullet/LinearMath/btList.h
deleted file mode 100644
index b255938c30..0000000000
--- a/thirdparty/bullet/LinearMath/btList.h
+++ /dev/null
@@ -1,73 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_GEN_LIST_H
-#define BT_GEN_LIST_H
-
-class btGEN_Link
-{
-public:
-	btGEN_Link() : m_next(0), m_prev(0) {}
-	btGEN_Link(btGEN_Link *next, btGEN_Link *prev) : m_next(next), m_prev(prev) {}
-
-	btGEN_Link *getNext() const { return m_next; }
-	btGEN_Link *getPrev() const { return m_prev; }
-
-	bool isHead() const { return m_prev == 0; }
-	bool isTail() const { return m_next == 0; }
-
-	void insertBefore(btGEN_Link *link)
-	{
-		m_next = link;
-		m_prev = link->m_prev;
-		m_next->m_prev = this;
-		m_prev->m_next = this;
-	}
-
-	void insertAfter(btGEN_Link *link)
-	{
-		m_next = link->m_next;
-		m_prev = link;
-		m_next->m_prev = this;
-		m_prev->m_next = this;
-	}
-
-	void remove()
-	{
-		m_next->m_prev = m_prev;
-		m_prev->m_next = m_next;
-	}
-
-private:
-	btGEN_Link *m_next;
-	btGEN_Link *m_prev;
-};
-
-class btGEN_List
-{
-public:
-	btGEN_List() : m_head(&m_tail, 0), m_tail(0, &m_head) {}
-
-	btGEN_Link *getHead() const { return m_head.getNext(); }
-	btGEN_Link *getTail() const { return m_tail.getPrev(); }
-
-	void addHead(btGEN_Link *link) { link->insertAfter(&m_head); }
-	void addTail(btGEN_Link *link) { link->insertBefore(&m_tail); }
-
-private:
-	btGEN_Link m_head;
-	btGEN_Link m_tail;
-};
-
-#endif  //BT_GEN_LIST_H
diff --git a/thirdparty/bullet/LinearMath/btMatrix3x3.h b/thirdparty/bullet/LinearMath/btMatrix3x3.h
deleted file mode 100644
index 9c90fee1d2..0000000000
--- a/thirdparty/bullet/LinearMath/btMatrix3x3.h
+++ /dev/null
@@ -1,1431 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_MATRIX3x3_H
-#define BT_MATRIX3x3_H
-
-#include "btVector3.h"
-#include "btQuaternion.h"
-#include <stdio.h>
-
-#ifdef BT_USE_SSE
-//const __m128 ATTRIBUTE_ALIGNED16(v2220) = {2.0f, 2.0f, 2.0f, 0.0f};
-//const __m128 ATTRIBUTE_ALIGNED16(vMPPP) = {-0.0f, +0.0f, +0.0f, +0.0f};
-#define vMPPP (_mm_set_ps(+0.0f, +0.0f, +0.0f, -0.0f))
-#endif
-
-#if defined(BT_USE_SSE)
-#define v0000 (_mm_set_ps(0.0f, 0.0f, 0.0f, 0.0f))
-#define v1000 (_mm_set_ps(0.0f, 0.0f, 0.0f, 1.0f))
-#define v0100 (_mm_set_ps(0.0f, 0.0f, 1.0f, 0.0f))
-#define v0010 (_mm_set_ps(0.0f, 1.0f, 0.0f, 0.0f))
-#elif defined(BT_USE_NEON)
-const btSimdFloat4 ATTRIBUTE_ALIGNED16(v0000) = {0.0f, 0.0f, 0.0f, 0.0f};
-const btSimdFloat4 ATTRIBUTE_ALIGNED16(v1000) = {1.0f, 0.0f, 0.0f, 0.0f};
-const btSimdFloat4 ATTRIBUTE_ALIGNED16(v0100) = {0.0f, 1.0f, 0.0f, 0.0f};
-const btSimdFloat4 ATTRIBUTE_ALIGNED16(v0010) = {0.0f, 0.0f, 1.0f, 0.0f};
-#endif
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btMatrix3x3Data btMatrix3x3DoubleData
-#else
-#define btMatrix3x3Data btMatrix3x3FloatData
-#endif  //BT_USE_DOUBLE_PRECISION
-
-/**@brief The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with btQuaternion, btTransform and btVector3.
-* Make sure to only include a pure orthogonal matrix without scaling. */
-ATTRIBUTE_ALIGNED16(class)
-btMatrix3x3
-{
-	///Data storage for the matrix, each vector is a row of the matrix
-	btVector3 m_el[3];
-
-public:
-	/** @brief No initializaion constructor */
-	btMatrix3x3() {}
-
-	//		explicit btMatrix3x3(const btScalar *m) { setFromOpenGLSubMatrix(m); }
-
-	/**@brief Constructor from Quaternion */
-	explicit btMatrix3x3(const btQuaternion& q) { setRotation(q); }
-	/*
-	template <typename btScalar>
-	Matrix3x3(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
-	{ 
-	setEulerYPR(yaw, pitch, roll);
-	}
-	*/
-	/** @brief Constructor with row major formatting */
-	btMatrix3x3(const btScalar& xx, const btScalar& xy, const btScalar& xz,
-				const btScalar& yx, const btScalar& yy, const btScalar& yz,
-				const btScalar& zx, const btScalar& zy, const btScalar& zz)
-	{
-		setValue(xx, xy, xz,
-				 yx, yy, yz,
-				 zx, zy, zz);
-	}
-
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-	SIMD_FORCE_INLINE btMatrix3x3(const btSimdFloat4 v0, const btSimdFloat4 v1, const btSimdFloat4 v2)
-	{
-		m_el[0].mVec128 = v0;
-		m_el[1].mVec128 = v1;
-		m_el[2].mVec128 = v2;
-	}
-
-	SIMD_FORCE_INLINE btMatrix3x3(const btVector3& v0, const btVector3& v1, const btVector3& v2)
-	{
-		m_el[0] = v0;
-		m_el[1] = v1;
-		m_el[2] = v2;
-	}
-
-	// Copy constructor
-	SIMD_FORCE_INLINE btMatrix3x3(const btMatrix3x3& rhs)
-	{
-		m_el[0].mVec128 = rhs.m_el[0].mVec128;
-		m_el[1].mVec128 = rhs.m_el[1].mVec128;
-		m_el[2].mVec128 = rhs.m_el[2].mVec128;
-	}
-
-	// Assignment Operator
-	SIMD_FORCE_INLINE btMatrix3x3& operator=(const btMatrix3x3& m)
-	{
-		m_el[0].mVec128 = m.m_el[0].mVec128;
-		m_el[1].mVec128 = m.m_el[1].mVec128;
-		m_el[2].mVec128 = m.m_el[2].mVec128;
-
-		return *this;
-	}
-
-#else
-
-	/** @brief Copy constructor */
-	SIMD_FORCE_INLINE btMatrix3x3(const btMatrix3x3& other)
-	{
-		m_el[0] = other.m_el[0];
-		m_el[1] = other.m_el[1];
-		m_el[2] = other.m_el[2];
-	}
-
-	/** @brief Assignment Operator */
-	SIMD_FORCE_INLINE btMatrix3x3& operator=(const btMatrix3x3& other)
-	{
-		m_el[0] = other.m_el[0];
-		m_el[1] = other.m_el[1];
-		m_el[2] = other.m_el[2];
-		return *this;
-	}
-    
-    SIMD_FORCE_INLINE btMatrix3x3(const btVector3& v0, const btVector3& v1, const btVector3& v2)
-    {
-        m_el[0] = v0;
-        m_el[1] = v1;
-        m_el[2] = v2;
-    }
-
-#endif
-
-	/** @brief Get a column of the matrix as a vector 
-	*  @param i Column number 0 indexed */
-	SIMD_FORCE_INLINE btVector3 getColumn(int i) const
-	{
-		return btVector3(m_el[0][i], m_el[1][i], m_el[2][i]);
-	}
-
-	/** @brief Get a row of the matrix as a vector 
-	*  @param i Row number 0 indexed */
-	SIMD_FORCE_INLINE const btVector3& getRow(int i) const
-	{
-		btFullAssert(0 <= i && i < 3);
-		return m_el[i];
-	}
-
-	/** @brief Get a mutable reference to a row of the matrix as a vector 
-	*  @param i Row number 0 indexed */
-	SIMD_FORCE_INLINE btVector3& operator[](int i)
-	{
-		btFullAssert(0 <= i && i < 3);
-		return m_el[i];
-	}
-
-	/** @brief Get a const reference to a row of the matrix as a vector 
-	*  @param i Row number 0 indexed */
-	SIMD_FORCE_INLINE const btVector3& operator[](int i) const
-	{
-		btFullAssert(0 <= i && i < 3);
-		return m_el[i];
-	}
-
-	/** @brief Multiply by the target matrix on the right
-	*  @param m Rotation matrix to be applied 
-	* Equivilant to this = this * m */
-	btMatrix3x3& operator*=(const btMatrix3x3& m);
-
-	/** @brief Adds by the target matrix on the right
-	*  @param m matrix to be applied 
-	* Equivilant to this = this + m */
-	btMatrix3x3& operator+=(const btMatrix3x3& m);
-
-	/** @brief Substractss by the target matrix on the right
-	*  @param m matrix to be applied 
-	* Equivilant to this = this - m */
-	btMatrix3x3& operator-=(const btMatrix3x3& m);
-
-	/** @brief Set from the rotational part of a 4x4 OpenGL matrix
-	*  @param m A pointer to the beginning of the array of scalars*/
-	void setFromOpenGLSubMatrix(const btScalar* m)
-	{
-		m_el[0].setValue(m[0], m[4], m[8]);
-		m_el[1].setValue(m[1], m[5], m[9]);
-		m_el[2].setValue(m[2], m[6], m[10]);
-	}
-	/** @brief Set the values of the matrix explicitly (row major)
-	*  @param xx Top left
-	*  @param xy Top Middle
-	*  @param xz Top Right
-	*  @param yx Middle Left
-	*  @param yy Middle Middle
-	*  @param yz Middle Right
-	*  @param zx Bottom Left
-	*  @param zy Bottom Middle
-	*  @param zz Bottom Right*/
-	void setValue(const btScalar& xx, const btScalar& xy, const btScalar& xz,
-				  const btScalar& yx, const btScalar& yy, const btScalar& yz,
-				  const btScalar& zx, const btScalar& zy, const btScalar& zz)
-	{
-		m_el[0].setValue(xx, xy, xz);
-		m_el[1].setValue(yx, yy, yz);
-		m_el[2].setValue(zx, zy, zz);
-	}
-
-	/** @brief Set the matrix from a quaternion
-	*  @param q The Quaternion to match */
-	void setRotation(const btQuaternion& q)
-	{
-		btScalar d = q.length2();
-		btFullAssert(d != btScalar(0.0));
-		btScalar s = btScalar(2.0) / d;
-
-#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		__m128 vs, Q = q.get128();
-		__m128i Qi = btCastfTo128i(Q);
-		__m128 Y, Z;
-		__m128 V1, V2, V3;
-		__m128 V11, V21, V31;
-		__m128 NQ = _mm_xor_ps(Q, btvMzeroMask);
-		__m128i NQi = btCastfTo128i(NQ);
-
-		V1 = btCastiTo128f(_mm_shuffle_epi32(Qi, BT_SHUFFLE(1, 0, 2, 3)));  // Y X Z W
-		V2 = _mm_shuffle_ps(NQ, Q, BT_SHUFFLE(0, 0, 1, 3));                 // -X -X  Y  W
-		V3 = btCastiTo128f(_mm_shuffle_epi32(Qi, BT_SHUFFLE(2, 1, 0, 3)));  // Z Y X W
-		V1 = _mm_xor_ps(V1, vMPPP);                                         //	change the sign of the first element
-
-		V11 = btCastiTo128f(_mm_shuffle_epi32(Qi, BT_SHUFFLE(1, 1, 0, 3)));  // Y Y X W
-		V21 = _mm_unpackhi_ps(Q, Q);                                         //  Z  Z  W  W
-		V31 = _mm_shuffle_ps(Q, NQ, BT_SHUFFLE(0, 2, 0, 3));                 //  X  Z -X -W
-
-		V2 = V2 * V1;   //
-		V1 = V1 * V11;  //
-		V3 = V3 * V31;  //
-
-		V11 = _mm_shuffle_ps(NQ, Q, BT_SHUFFLE(2, 3, 1, 3));                //	-Z -W  Y  W
-		V11 = V11 * V21;                                                    //
-		V21 = _mm_xor_ps(V21, vMPPP);                                       //	change the sign of the first element
-		V31 = _mm_shuffle_ps(Q, NQ, BT_SHUFFLE(3, 3, 1, 3));                //	 W  W -Y -W
-		V31 = _mm_xor_ps(V31, vMPPP);                                       //	change the sign of the first element
-		Y = btCastiTo128f(_mm_shuffle_epi32(NQi, BT_SHUFFLE(3, 2, 0, 3)));  // -W -Z -X -W
-		Z = btCastiTo128f(_mm_shuffle_epi32(Qi, BT_SHUFFLE(1, 0, 1, 3)));   //  Y  X  Y  W
-
-		vs = _mm_load_ss(&s);
-		V21 = V21 * Y;
-		V31 = V31 * Z;
-
-		V1 = V1 + V11;
-		V2 = V2 + V21;
-		V3 = V3 + V31;
-
-		vs = bt_splat3_ps(vs, 0);
-		//	s ready
-		V1 = V1 * vs;
-		V2 = V2 * vs;
-		V3 = V3 * vs;
-
-		V1 = V1 + v1000;
-		V2 = V2 + v0100;
-		V3 = V3 + v0010;
-
-		m_el[0] = V1;
-		m_el[1] = V2;
-		m_el[2] = V3;
-#else
-		btScalar xs = q.x() * s, ys = q.y() * s, zs = q.z() * s;
-		btScalar wx = q.w() * xs, wy = q.w() * ys, wz = q.w() * zs;
-		btScalar xx = q.x() * xs, xy = q.x() * ys, xz = q.x() * zs;
-		btScalar yy = q.y() * ys, yz = q.y() * zs, zz = q.z() * zs;
-		setValue(
-			btScalar(1.0) - (yy + zz), xy - wz, xz + wy,
-			xy + wz, btScalar(1.0) - (xx + zz), yz - wx,
-			xz - wy, yz + wx, btScalar(1.0) - (xx + yy));
-#endif
-	}
-
-	/** @brief Set the matrix from euler angles using YPR around YXZ respectively
-	*  @param yaw Yaw about Y axis
-	*  @param pitch Pitch about X axis
-	*  @param roll Roll about Z axis 
-	*/
-	void setEulerYPR(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
-	{
-		setEulerZYX(roll, pitch, yaw);
-	}
-
-	/** @brief Set the matrix from euler angles YPR around ZYX axes
-	* @param eulerX Roll about X axis
-	* @param eulerY Pitch around Y axis
-	* @param eulerZ Yaw about Z axis
-	* 
-	* These angles are used to produce a rotation matrix. The euler
-	* angles are applied in ZYX order. I.e a vector is first rotated 
-	* about X then Y and then Z
-	**/
-	void setEulerZYX(btScalar eulerX, btScalar eulerY, btScalar eulerZ)
-	{
-		///@todo proposed to reverse this since it's labeled zyx but takes arguments xyz and it will match all other parts of the code
-		btScalar ci(btCos(eulerX));
-		btScalar cj(btCos(eulerY));
-		btScalar ch(btCos(eulerZ));
-		btScalar si(btSin(eulerX));
-		btScalar sj(btSin(eulerY));
-		btScalar sh(btSin(eulerZ));
-		btScalar cc = ci * ch;
-		btScalar cs = ci * sh;
-		btScalar sc = si * ch;
-		btScalar ss = si * sh;
-
-		setValue(cj * ch, sj * sc - cs, sj * cc + ss,
-				 cj * sh, sj * ss + cc, sj * cs - sc,
-				 -sj, cj * si, cj * ci);
-	}
-
-	/**@brief Set the matrix to the identity */
-	void setIdentity()
-	{
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-		m_el[0] = v1000;
-		m_el[1] = v0100;
-		m_el[2] = v0010;
-#else
-		setValue(btScalar(1.0), btScalar(0.0), btScalar(0.0),
-				 btScalar(0.0), btScalar(1.0), btScalar(0.0),
-				 btScalar(0.0), btScalar(0.0), btScalar(1.0));
-#endif
-	}
-    
-    /**@brief Set the matrix to the identity */
-    void setZero()
-    {
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-        m_el[0] = v0000;
-        m_el[1] = v0000;
-        m_el[2] = v0000;
-#else
-        setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0),
-                 btScalar(0.0), btScalar(0.0), btScalar(0.0),
-                 btScalar(0.0), btScalar(0.0), btScalar(0.0));
-#endif
-    }
-
-	static const btMatrix3x3& getIdentity()
-	{
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-		static const btMatrix3x3
-			identityMatrix(v1000, v0100, v0010);
-#else
-		static const btMatrix3x3
-			identityMatrix(
-				btScalar(1.0), btScalar(0.0), btScalar(0.0),
-				btScalar(0.0), btScalar(1.0), btScalar(0.0),
-				btScalar(0.0), btScalar(0.0), btScalar(1.0));
-#endif
-		return identityMatrix;
-	}
-
-	/**@brief Fill the rotational part of an OpenGL matrix and clear the shear/perspective
-	* @param m The array to be filled */
-	void getOpenGLSubMatrix(btScalar * m) const
-	{
-#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		__m128 v0 = m_el[0].mVec128;
-		__m128 v1 = m_el[1].mVec128;
-		__m128 v2 = m_el[2].mVec128;  //  x2 y2 z2 w2
-		__m128* vm = (__m128*)m;
-		__m128 vT;
-
-		v2 = _mm_and_ps(v2, btvFFF0fMask);  //  x2 y2 z2 0
-
-		vT = _mm_unpackhi_ps(v0, v1);  //	z0 z1 * *
-		v0 = _mm_unpacklo_ps(v0, v1);  //	x0 x1 y0 y1
-
-		v1 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(2, 3, 1, 3));                    // y0 y1 y2 0
-		v0 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(0, 1, 0, 3));                    // x0 x1 x2 0
-		v2 = btCastdTo128f(_mm_move_sd(btCastfTo128d(v2), btCastfTo128d(vT)));  // z0 z1 z2 0
-
-		vm[0] = v0;
-		vm[1] = v1;
-		vm[2] = v2;
-#elif defined(BT_USE_NEON)
-		// note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions.
-		static const uint32x2_t zMask = (const uint32x2_t){static_cast<uint32_t>(-1), 0};
-		float32x4_t* vm = (float32x4_t*)m;
-		float32x4x2_t top = vtrnq_f32(m_el[0].mVec128, m_el[1].mVec128);               // {x0 x1 z0 z1}, {y0 y1 w0 w1}
-		float32x2x2_t bl = vtrn_f32(vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f));  // {x2  0 }, {y2 0}
-		float32x4_t v0 = vcombine_f32(vget_low_f32(top.val[0]), bl.val[0]);
-		float32x4_t v1 = vcombine_f32(vget_low_f32(top.val[1]), bl.val[1]);
-		float32x2_t q = (float32x2_t)vand_u32((uint32x2_t)vget_high_f32(m_el[2].mVec128), zMask);
-		float32x4_t v2 = vcombine_f32(vget_high_f32(top.val[0]), q);  // z0 z1 z2  0
-
-		vm[0] = v0;
-		vm[1] = v1;
-		vm[2] = v2;
-#else
-		m[0] = btScalar(m_el[0].x());
-		m[1] = btScalar(m_el[1].x());
-		m[2] = btScalar(m_el[2].x());
-		m[3] = btScalar(0.0);
-		m[4] = btScalar(m_el[0].y());
-		m[5] = btScalar(m_el[1].y());
-		m[6] = btScalar(m_el[2].y());
-		m[7] = btScalar(0.0);
-		m[8] = btScalar(m_el[0].z());
-		m[9] = btScalar(m_el[1].z());
-		m[10] = btScalar(m_el[2].z());
-		m[11] = btScalar(0.0);
-#endif
-	}
-
-	/**@brief Get the matrix represented as a quaternion 
-	* @param q The quaternion which will be set */
-	void getRotation(btQuaternion & q) const
-	{
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-		btScalar trace = m_el[0].x() + m_el[1].y() + m_el[2].z();
-		btScalar s, x;
-
-		union {
-			btSimdFloat4 vec;
-			btScalar f[4];
-		} temp;
-
-		if (trace > btScalar(0.0))
-		{
-			x = trace + btScalar(1.0);
-
-			temp.f[0] = m_el[2].y() - m_el[1].z();
-			temp.f[1] = m_el[0].z() - m_el[2].x();
-			temp.f[2] = m_el[1].x() - m_el[0].y();
-			temp.f[3] = x;
-			//temp.f[3]= s * btScalar(0.5);
-		}
-		else
-		{
-			int i, j, k;
-			if (m_el[0].x() < m_el[1].y())
-			{
-				if (m_el[1].y() < m_el[2].z())
-				{
-					i = 2;
-					j = 0;
-					k = 1;
-				}
-				else
-				{
-					i = 1;
-					j = 2;
-					k = 0;
-				}
-			}
-			else
-			{
-				if (m_el[0].x() < m_el[2].z())
-				{
-					i = 2;
-					j = 0;
-					k = 1;
-				}
-				else
-				{
-					i = 0;
-					j = 1;
-					k = 2;
-				}
-			}
-
-			x = m_el[i][i] - m_el[j][j] - m_el[k][k] + btScalar(1.0);
-
-			temp.f[3] = (m_el[k][j] - m_el[j][k]);
-			temp.f[j] = (m_el[j][i] + m_el[i][j]);
-			temp.f[k] = (m_el[k][i] + m_el[i][k]);
-			temp.f[i] = x;
-			//temp.f[i] = s * btScalar(0.5);
-		}
-
-		s = btSqrt(x);
-		q.set128(temp.vec);
-		s = btScalar(0.5) / s;
-
-		q *= s;
-#else
-		btScalar trace = m_el[0].x() + m_el[1].y() + m_el[2].z();
-
-		btScalar temp[4];
-
-		if (trace > btScalar(0.0))
-		{
-			btScalar s = btSqrt(trace + btScalar(1.0));
-			temp[3] = (s * btScalar(0.5));
-			s = btScalar(0.5) / s;
-
-			temp[0] = ((m_el[2].y() - m_el[1].z()) * s);
-			temp[1] = ((m_el[0].z() - m_el[2].x()) * s);
-			temp[2] = ((m_el[1].x() - m_el[0].y()) * s);
-		}
-		else
-		{
-			int i = m_el[0].x() < m_el[1].y() ? (m_el[1].y() < m_el[2].z() ? 2 : 1) : (m_el[0].x() < m_el[2].z() ? 2 : 0);
-			int j = (i + 1) % 3;
-			int k = (i + 2) % 3;
-
-			btScalar s = btSqrt(m_el[i][i] - m_el[j][j] - m_el[k][k] + btScalar(1.0));
-			temp[i] = s * btScalar(0.5);
-			s = btScalar(0.5) / s;
-
-			temp[3] = (m_el[k][j] - m_el[j][k]) * s;
-			temp[j] = (m_el[j][i] + m_el[i][j]) * s;
-			temp[k] = (m_el[k][i] + m_el[i][k]) * s;
-		}
-		q.setValue(temp[0], temp[1], temp[2], temp[3]);
-#endif
-	}
-
-	/**@brief Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR
-	* @param yaw Yaw around Y axis
-	* @param pitch Pitch around X axis
-	* @param roll around Z axis */
-	void getEulerYPR(btScalar & yaw, btScalar & pitch, btScalar & roll) const
-	{
-		// first use the normal calculus
-		yaw = btScalar(btAtan2(m_el[1].x(), m_el[0].x()));
-		pitch = btScalar(btAsin(-m_el[2].x()));
-		roll = btScalar(btAtan2(m_el[2].y(), m_el[2].z()));
-
-		// on pitch = +/-HalfPI
-		if (btFabs(pitch) == SIMD_HALF_PI)
-		{
-			if (yaw > 0)
-				yaw -= SIMD_PI;
-			else
-				yaw += SIMD_PI;
-
-			if (roll > 0)
-				roll -= SIMD_PI;
-			else
-				roll += SIMD_PI;
-		}
-	};
-
-	/**@brief Get the matrix represented as euler angles around ZYX
-	* @param yaw Yaw around Z axis
-	* @param pitch Pitch around Y axis
-	* @param roll around X axis 
-	* @param solution_number Which solution of two possible solutions ( 1 or 2) are possible values*/
-	void getEulerZYX(btScalar & yaw, btScalar & pitch, btScalar & roll, unsigned int solution_number = 1) const
-	{
-		struct Euler
-		{
-			btScalar yaw;
-			btScalar pitch;
-			btScalar roll;
-		};
-
-		Euler euler_out;
-		Euler euler_out2;  //second solution
-		//get the pointer to the raw data
-
-		// Check that pitch is not at a singularity
-		if (btFabs(m_el[2].x()) >= 1)
-		{
-			euler_out.yaw = 0;
-			euler_out2.yaw = 0;
-
-			// From difference of angles formula
-			btScalar delta = btAtan2(m_el[0].x(), m_el[0].z());
-			if (m_el[2].x() > 0)  //gimbal locked up
-			{
-				euler_out.pitch = SIMD_PI / btScalar(2.0);
-				euler_out2.pitch = SIMD_PI / btScalar(2.0);
-				euler_out.roll = euler_out.pitch + delta;
-				euler_out2.roll = euler_out.pitch + delta;
-			}
-			else  // gimbal locked down
-			{
-				euler_out.pitch = -SIMD_PI / btScalar(2.0);
-				euler_out2.pitch = -SIMD_PI / btScalar(2.0);
-				euler_out.roll = -euler_out.pitch + delta;
-				euler_out2.roll = -euler_out.pitch + delta;
-			}
-		}
-		else
-		{
-			euler_out.pitch = -btAsin(m_el[2].x());
-			euler_out2.pitch = SIMD_PI - euler_out.pitch;
-
-			euler_out.roll = btAtan2(m_el[2].y() / btCos(euler_out.pitch),
-									 m_el[2].z() / btCos(euler_out.pitch));
-			euler_out2.roll = btAtan2(m_el[2].y() / btCos(euler_out2.pitch),
-									  m_el[2].z() / btCos(euler_out2.pitch));
-
-			euler_out.yaw = btAtan2(m_el[1].x() / btCos(euler_out.pitch),
-									m_el[0].x() / btCos(euler_out.pitch));
-			euler_out2.yaw = btAtan2(m_el[1].x() / btCos(euler_out2.pitch),
-									 m_el[0].x() / btCos(euler_out2.pitch));
-		}
-
-		if (solution_number == 1)
-		{
-			yaw = euler_out.yaw;
-			pitch = euler_out.pitch;
-			roll = euler_out.roll;
-		}
-		else
-		{
-			yaw = euler_out2.yaw;
-			pitch = euler_out2.pitch;
-			roll = euler_out2.roll;
-		}
-	}
-
-	/**@brief Create a scaled copy of the matrix 
-	* @param s Scaling vector The elements of the vector will scale each column */
-
-	btMatrix3x3 scaled(const btVector3& s) const
-	{
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-		return btMatrix3x3(m_el[0] * s, m_el[1] * s, m_el[2] * s);
-#else
-		return btMatrix3x3(
-			m_el[0].x() * s.x(), m_el[0].y() * s.y(), m_el[0].z() * s.z(),
-			m_el[1].x() * s.x(), m_el[1].y() * s.y(), m_el[1].z() * s.z(),
-			m_el[2].x() * s.x(), m_el[2].y() * s.y(), m_el[2].z() * s.z());
-#endif
-	}
-
-	/**@brief Return the determinant of the matrix */
-	btScalar determinant() const;
-	/**@brief Return the adjoint of the matrix */
-	btMatrix3x3 adjoint() const;
-	/**@brief Return the matrix with all values non negative */
-	btMatrix3x3 absolute() const;
-	/**@brief Return the transpose of the matrix */
-	btMatrix3x3 transpose() const;
-	/**@brief Return the inverse of the matrix */
-	btMatrix3x3 inverse() const;
-
-	/// Solve A * x = b, where b is a column vector. This is more efficient
-	/// than computing the inverse in one-shot cases.
-	///Solve33 is from Box2d, thanks to Erin Catto,
-	btVector3 solve33(const btVector3& b) const
-	{
-		btVector3 col1 = getColumn(0);
-		btVector3 col2 = getColumn(1);
-		btVector3 col3 = getColumn(2);
-
-		btScalar det = btDot(col1, btCross(col2, col3));
-		if (btFabs(det) > SIMD_EPSILON)
-		{
-			det = 1.0f / det;
-		}
-		btVector3 x;
-		x[0] = det * btDot(b, btCross(col2, col3));
-		x[1] = det * btDot(col1, btCross(b, col3));
-		x[2] = det * btDot(col1, btCross(col2, b));
-		return x;
-	}
-
-	btMatrix3x3 transposeTimes(const btMatrix3x3& m) const;
-	btMatrix3x3 timesTranspose(const btMatrix3x3& m) const;
-
-	SIMD_FORCE_INLINE btScalar tdotx(const btVector3& v) const
-	{
-		return m_el[0].x() * v.x() + m_el[1].x() * v.y() + m_el[2].x() * v.z();
-	}
-	SIMD_FORCE_INLINE btScalar tdoty(const btVector3& v) const
-	{
-		return m_el[0].y() * v.x() + m_el[1].y() * v.y() + m_el[2].y() * v.z();
-	}
-	SIMD_FORCE_INLINE btScalar tdotz(const btVector3& v) const
-	{
-		return m_el[0].z() * v.x() + m_el[1].z() * v.y() + m_el[2].z() * v.z();
-	}
-
-	///extractRotation is from "A robust method to extract the rotational part of deformations"
-	///See http://dl.acm.org/citation.cfm?doid=2994258.2994269
-	///decomposes a matrix A in a orthogonal matrix R and a
-	///symmetric matrix S:
-	///A = R*S.
-	///note that R can include both rotation and scaling.
-	SIMD_FORCE_INLINE void extractRotation(btQuaternion & q, btScalar tolerance = 1.0e-9, int maxIter = 100)
-	{
-		int iter = 0;
-		btScalar w;
-		const btMatrix3x3& A = *this;
-		for (iter = 0; iter < maxIter; iter++)
-		{
-			btMatrix3x3 R(q);
-			btVector3 omega = (R.getColumn(0).cross(A.getColumn(0)) + R.getColumn(1).cross(A.getColumn(1)) + R.getColumn(2).cross(A.getColumn(2))) * (btScalar(1.0) / btFabs(R.getColumn(0).dot(A.getColumn(0)) + R.getColumn(1).dot(A.getColumn(1)) + R.getColumn(2).dot(A.getColumn(2))) +
-																																					  tolerance);
-			w = omega.norm();
-			if (w < tolerance)
-				break;
-			q = btQuaternion(btVector3((btScalar(1.0) / w) * omega), w) *
-				q;
-			q.normalize();
-		}
-	}
-
-	/**@brief diagonalizes this matrix by the Jacobi method.
-	* @param rot stores the rotation from the coordinate system in which the matrix is diagonal to the original
-	* coordinate system, i.e., old_this = rot * new_this * rot^T.
-	* @param threshold See iteration
-	* @param iteration The iteration stops when all off-diagonal elements are less than the threshold multiplied
-	* by the sum of the absolute values of the diagonal, or when maxSteps have been executed.
-	*
-	* Note that this matrix is assumed to be symmetric.
-	*/
-	void diagonalize(btMatrix3x3 & rot, btScalar threshold, int maxSteps)
-	{
-		rot.setIdentity();
-		for (int step = maxSteps; step > 0; step--)
-		{
-			// find off-diagonal element [p][q] with largest magnitude
-			int p = 0;
-			int q = 1;
-			int r = 2;
-			btScalar max = btFabs(m_el[0][1]);
-			btScalar v = btFabs(m_el[0][2]);
-			if (v > max)
-			{
-				q = 2;
-				r = 1;
-				max = v;
-			}
-			v = btFabs(m_el[1][2]);
-			if (v > max)
-			{
-				p = 1;
-				q = 2;
-				r = 0;
-				max = v;
-			}
-
-			btScalar t = threshold * (btFabs(m_el[0][0]) + btFabs(m_el[1][1]) + btFabs(m_el[2][2]));
-			if (max <= t)
-			{
-				if (max <= SIMD_EPSILON * t)
-				{
-					return;
-				}
-				step = 1;
-			}
-
-			// compute Jacobi rotation J which leads to a zero for element [p][q]
-			btScalar mpq = m_el[p][q];
-			btScalar theta = (m_el[q][q] - m_el[p][p]) / (2 * mpq);
-			btScalar theta2 = theta * theta;
-			btScalar cos;
-			btScalar sin;
-			if (theta2 * theta2 < btScalar(10 / SIMD_EPSILON))
-			{
-				t = (theta >= 0) ? 1 / (theta + btSqrt(1 + theta2))
-								 : 1 / (theta - btSqrt(1 + theta2));
-				cos = 1 / btSqrt(1 + t * t);
-				sin = cos * t;
-			}
-			else
-			{
-				// approximation for large theta-value, i.e., a nearly diagonal matrix
-				t = 1 / (theta * (2 + btScalar(0.5) / theta2));
-				cos = 1 - btScalar(0.5) * t * t;
-				sin = cos * t;
-			}
-
-			// apply rotation to matrix (this = J^T * this * J)
-			m_el[p][q] = m_el[q][p] = 0;
-			m_el[p][p] -= t * mpq;
-			m_el[q][q] += t * mpq;
-			btScalar mrp = m_el[r][p];
-			btScalar mrq = m_el[r][q];
-			m_el[r][p] = m_el[p][r] = cos * mrp - sin * mrq;
-			m_el[r][q] = m_el[q][r] = cos * mrq + sin * mrp;
-
-			// apply rotation to rot (rot = rot * J)
-			for (int i = 0; i < 3; i++)
-			{
-				btVector3& row = rot[i];
-				mrp = row[p];
-				mrq = row[q];
-				row[p] = cos * mrp - sin * mrq;
-				row[q] = cos * mrq + sin * mrp;
-			}
-		}
-	}
-
-	/**@brief Calculate the matrix cofactor 
-	* @param r1 The first row to use for calculating the cofactor
-	* @param c1 The first column to use for calculating the cofactor
-	* @param r1 The second row to use for calculating the cofactor
-	* @param c1 The second column to use for calculating the cofactor
-	* See http://en.wikipedia.org/wiki/Cofactor_(linear_algebra) for more details
-	*/
-	btScalar cofac(int r1, int c1, int r2, int c2) const
-	{
-		return m_el[r1][c1] * m_el[r2][c2] - m_el[r1][c2] * m_el[r2][c1];
-	}
-
-	void serialize(struct btMatrix3x3Data & dataOut) const;
-
-	void serializeFloat(struct btMatrix3x3FloatData & dataOut) const;
-
-	void deSerialize(const struct btMatrix3x3Data& dataIn);
-
-	void deSerializeFloat(const struct btMatrix3x3FloatData& dataIn);
-
-	void deSerializeDouble(const struct btMatrix3x3DoubleData& dataIn);
-};
-
-SIMD_FORCE_INLINE btMatrix3x3&
-btMatrix3x3::operator*=(const btMatrix3x3& m)
-{
-#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-	__m128 rv00, rv01, rv02;
-	__m128 rv10, rv11, rv12;
-	__m128 rv20, rv21, rv22;
-	__m128 mv0, mv1, mv2;
-
-	rv02 = m_el[0].mVec128;
-	rv12 = m_el[1].mVec128;
-	rv22 = m_el[2].mVec128;
-
-	mv0 = _mm_and_ps(m[0].mVec128, btvFFF0fMask);
-	mv1 = _mm_and_ps(m[1].mVec128, btvFFF0fMask);
-	mv2 = _mm_and_ps(m[2].mVec128, btvFFF0fMask);
-
-	// rv0
-	rv00 = bt_splat_ps(rv02, 0);
-	rv01 = bt_splat_ps(rv02, 1);
-	rv02 = bt_splat_ps(rv02, 2);
-
-	rv00 = _mm_mul_ps(rv00, mv0);
-	rv01 = _mm_mul_ps(rv01, mv1);
-	rv02 = _mm_mul_ps(rv02, mv2);
-
-	// rv1
-	rv10 = bt_splat_ps(rv12, 0);
-	rv11 = bt_splat_ps(rv12, 1);
-	rv12 = bt_splat_ps(rv12, 2);
-
-	rv10 = _mm_mul_ps(rv10, mv0);
-	rv11 = _mm_mul_ps(rv11, mv1);
-	rv12 = _mm_mul_ps(rv12, mv2);
-
-	// rv2
-	rv20 = bt_splat_ps(rv22, 0);
-	rv21 = bt_splat_ps(rv22, 1);
-	rv22 = bt_splat_ps(rv22, 2);
-
-	rv20 = _mm_mul_ps(rv20, mv0);
-	rv21 = _mm_mul_ps(rv21, mv1);
-	rv22 = _mm_mul_ps(rv22, mv2);
-
-	rv00 = _mm_add_ps(rv00, rv01);
-	rv10 = _mm_add_ps(rv10, rv11);
-	rv20 = _mm_add_ps(rv20, rv21);
-
-	m_el[0].mVec128 = _mm_add_ps(rv00, rv02);
-	m_el[1].mVec128 = _mm_add_ps(rv10, rv12);
-	m_el[2].mVec128 = _mm_add_ps(rv20, rv22);
-
-#elif defined(BT_USE_NEON)
-
-	float32x4_t rv0, rv1, rv2;
-	float32x4_t v0, v1, v2;
-	float32x4_t mv0, mv1, mv2;
-
-	v0 = m_el[0].mVec128;
-	v1 = m_el[1].mVec128;
-	v2 = m_el[2].mVec128;
-
-	mv0 = (float32x4_t)vandq_s32((int32x4_t)m[0].mVec128, btvFFF0Mask);
-	mv1 = (float32x4_t)vandq_s32((int32x4_t)m[1].mVec128, btvFFF0Mask);
-	mv2 = (float32x4_t)vandq_s32((int32x4_t)m[2].mVec128, btvFFF0Mask);
-
-	rv0 = vmulq_lane_f32(mv0, vget_low_f32(v0), 0);
-	rv1 = vmulq_lane_f32(mv0, vget_low_f32(v1), 0);
-	rv2 = vmulq_lane_f32(mv0, vget_low_f32(v2), 0);
-
-	rv0 = vmlaq_lane_f32(rv0, mv1, vget_low_f32(v0), 1);
-	rv1 = vmlaq_lane_f32(rv1, mv1, vget_low_f32(v1), 1);
-	rv2 = vmlaq_lane_f32(rv2, mv1, vget_low_f32(v2), 1);
-
-	rv0 = vmlaq_lane_f32(rv0, mv2, vget_high_f32(v0), 0);
-	rv1 = vmlaq_lane_f32(rv1, mv2, vget_high_f32(v1), 0);
-	rv2 = vmlaq_lane_f32(rv2, mv2, vget_high_f32(v2), 0);
-
-	m_el[0].mVec128 = rv0;
-	m_el[1].mVec128 = rv1;
-	m_el[2].mVec128 = rv2;
-#else
-	setValue(
-		m.tdotx(m_el[0]), m.tdoty(m_el[0]), m.tdotz(m_el[0]),
-		m.tdotx(m_el[1]), m.tdoty(m_el[1]), m.tdotz(m_el[1]),
-		m.tdotx(m_el[2]), m.tdoty(m_el[2]), m.tdotz(m_el[2]));
-#endif
-	return *this;
-}
-
-SIMD_FORCE_INLINE btMatrix3x3&
-btMatrix3x3::operator+=(const btMatrix3x3& m)
-{
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-	m_el[0].mVec128 = m_el[0].mVec128 + m.m_el[0].mVec128;
-	m_el[1].mVec128 = m_el[1].mVec128 + m.m_el[1].mVec128;
-	m_el[2].mVec128 = m_el[2].mVec128 + m.m_el[2].mVec128;
-#else
-	setValue(
-		m_el[0][0] + m.m_el[0][0],
-		m_el[0][1] + m.m_el[0][1],
-		m_el[0][2] + m.m_el[0][2],
-		m_el[1][0] + m.m_el[1][0],
-		m_el[1][1] + m.m_el[1][1],
-		m_el[1][2] + m.m_el[1][2],
-		m_el[2][0] + m.m_el[2][0],
-		m_el[2][1] + m.m_el[2][1],
-		m_el[2][2] + m.m_el[2][2]);
-#endif
-	return *this;
-}
-
-SIMD_FORCE_INLINE btMatrix3x3
-operator*(const btMatrix3x3& m, const btScalar& k)
-{
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
-	__m128 vk = bt_splat_ps(_mm_load_ss((float*)&k), 0x80);
-	return btMatrix3x3(
-		_mm_mul_ps(m[0].mVec128, vk),
-		_mm_mul_ps(m[1].mVec128, vk),
-		_mm_mul_ps(m[2].mVec128, vk));
-#elif defined(BT_USE_NEON)
-	return btMatrix3x3(
-		vmulq_n_f32(m[0].mVec128, k),
-		vmulq_n_f32(m[1].mVec128, k),
-		vmulq_n_f32(m[2].mVec128, k));
-#else
-	return btMatrix3x3(
-		m[0].x() * k, m[0].y() * k, m[0].z() * k,
-		m[1].x() * k, m[1].y() * k, m[1].z() * k,
-		m[2].x() * k, m[2].y() * k, m[2].z() * k);
-#endif
-}
-
-SIMD_FORCE_INLINE btMatrix3x3
-operator+(const btMatrix3x3& m1, const btMatrix3x3& m2)
-{
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-	return btMatrix3x3(
-		m1[0].mVec128 + m2[0].mVec128,
-		m1[1].mVec128 + m2[1].mVec128,
-		m1[2].mVec128 + m2[2].mVec128);
-#else
-	return btMatrix3x3(
-		m1[0][0] + m2[0][0],
-		m1[0][1] + m2[0][1],
-		m1[0][2] + m2[0][2],
-
-		m1[1][0] + m2[1][0],
-		m1[1][1] + m2[1][1],
-		m1[1][2] + m2[1][2],
-
-		m1[2][0] + m2[2][0],
-		m1[2][1] + m2[2][1],
-		m1[2][2] + m2[2][2]);
-#endif
-}
-
-SIMD_FORCE_INLINE btMatrix3x3
-operator-(const btMatrix3x3& m1, const btMatrix3x3& m2)
-{
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-	return btMatrix3x3(
-		m1[0].mVec128 - m2[0].mVec128,
-		m1[1].mVec128 - m2[1].mVec128,
-		m1[2].mVec128 - m2[2].mVec128);
-#else
-	return btMatrix3x3(
-		m1[0][0] - m2[0][0],
-		m1[0][1] - m2[0][1],
-		m1[0][2] - m2[0][2],
-
-		m1[1][0] - m2[1][0],
-		m1[1][1] - m2[1][1],
-		m1[1][2] - m2[1][2],
-
-		m1[2][0] - m2[2][0],
-		m1[2][1] - m2[2][1],
-		m1[2][2] - m2[2][2]);
-#endif
-}
-
-SIMD_FORCE_INLINE btMatrix3x3&
-btMatrix3x3::operator-=(const btMatrix3x3& m)
-{
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-	m_el[0].mVec128 = m_el[0].mVec128 - m.m_el[0].mVec128;
-	m_el[1].mVec128 = m_el[1].mVec128 - m.m_el[1].mVec128;
-	m_el[2].mVec128 = m_el[2].mVec128 - m.m_el[2].mVec128;
-#else
-	setValue(
-		m_el[0][0] - m.m_el[0][0],
-		m_el[0][1] - m.m_el[0][1],
-		m_el[0][2] - m.m_el[0][2],
-		m_el[1][0] - m.m_el[1][0],
-		m_el[1][1] - m.m_el[1][1],
-		m_el[1][2] - m.m_el[1][2],
-		m_el[2][0] - m.m_el[2][0],
-		m_el[2][1] - m.m_el[2][1],
-		m_el[2][2] - m.m_el[2][2]);
-#endif
-	return *this;
-}
-
-SIMD_FORCE_INLINE btScalar
-btMatrix3x3::determinant() const
-{
-	return btTriple((*this)[0], (*this)[1], (*this)[2]);
-}
-
-SIMD_FORCE_INLINE btMatrix3x3
-btMatrix3x3::absolute() const
-{
-#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
-	return btMatrix3x3(
-		_mm_and_ps(m_el[0].mVec128, btvAbsfMask),
-		_mm_and_ps(m_el[1].mVec128, btvAbsfMask),
-		_mm_and_ps(m_el[2].mVec128, btvAbsfMask));
-#elif defined(BT_USE_NEON)
-	return btMatrix3x3(
-		(float32x4_t)vandq_s32((int32x4_t)m_el[0].mVec128, btv3AbsMask),
-		(float32x4_t)vandq_s32((int32x4_t)m_el[1].mVec128, btv3AbsMask),
-		(float32x4_t)vandq_s32((int32x4_t)m_el[2].mVec128, btv3AbsMask));
-#else
-	return btMatrix3x3(
-		btFabs(m_el[0].x()), btFabs(m_el[0].y()), btFabs(m_el[0].z()),
-		btFabs(m_el[1].x()), btFabs(m_el[1].y()), btFabs(m_el[1].z()),
-		btFabs(m_el[2].x()), btFabs(m_el[2].y()), btFabs(m_el[2].z()));
-#endif
-}
-
-SIMD_FORCE_INLINE btMatrix3x3
-btMatrix3x3::transpose() const
-{
-#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
-	__m128 v0 = m_el[0].mVec128;
-	__m128 v1 = m_el[1].mVec128;
-	__m128 v2 = m_el[2].mVec128;  //  x2 y2 z2 w2
-	__m128 vT;
-
-	v2 = _mm_and_ps(v2, btvFFF0fMask);  //  x2 y2 z2 0
-
-	vT = _mm_unpackhi_ps(v0, v1);  //	z0 z1 * *
-	v0 = _mm_unpacklo_ps(v0, v1);  //	x0 x1 y0 y1
-
-	v1 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(2, 3, 1, 3));                    // y0 y1 y2 0
-	v0 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(0, 1, 0, 3));                    // x0 x1 x2 0
-	v2 = btCastdTo128f(_mm_move_sd(btCastfTo128d(v2), btCastfTo128d(vT)));  // z0 z1 z2 0
-
-	return btMatrix3x3(v0, v1, v2);
-#elif defined(BT_USE_NEON)
-	// note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions.
-	static const uint32x2_t zMask = (const uint32x2_t){static_cast<uint32_t>(-1), 0};
-	float32x4x2_t top = vtrnq_f32(m_el[0].mVec128, m_el[1].mVec128);               // {x0 x1 z0 z1}, {y0 y1 w0 w1}
-	float32x2x2_t bl = vtrn_f32(vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f));  // {x2  0 }, {y2 0}
-	float32x4_t v0 = vcombine_f32(vget_low_f32(top.val[0]), bl.val[0]);
-	float32x4_t v1 = vcombine_f32(vget_low_f32(top.val[1]), bl.val[1]);
-	float32x2_t q = (float32x2_t)vand_u32((uint32x2_t)vget_high_f32(m_el[2].mVec128), zMask);
-	float32x4_t v2 = vcombine_f32(vget_high_f32(top.val[0]), q);  // z0 z1 z2  0
-	return btMatrix3x3(v0, v1, v2);
-#else
-	return btMatrix3x3(m_el[0].x(), m_el[1].x(), m_el[2].x(),
-					   m_el[0].y(), m_el[1].y(), m_el[2].y(),
-					   m_el[0].z(), m_el[1].z(), m_el[2].z());
-#endif
-}
-
-SIMD_FORCE_INLINE btMatrix3x3
-btMatrix3x3::adjoint() const
-{
-	return btMatrix3x3(cofac(1, 1, 2, 2), cofac(0, 2, 2, 1), cofac(0, 1, 1, 2),
-					   cofac(1, 2, 2, 0), cofac(0, 0, 2, 2), cofac(0, 2, 1, 0),
-					   cofac(1, 0, 2, 1), cofac(0, 1, 2, 0), cofac(0, 0, 1, 1));
-}
-
-SIMD_FORCE_INLINE btMatrix3x3
-btMatrix3x3::inverse() const
-{
-	btVector3 co(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1));
-	btScalar det = (*this)[0].dot(co);
-	//btFullAssert(det != btScalar(0.0));
-	btAssert(det != btScalar(0.0));
-	btScalar s = btScalar(1.0) / det;
-	return btMatrix3x3(co.x() * s, cofac(0, 2, 2, 1) * s, cofac(0, 1, 1, 2) * s,
-					   co.y() * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s,
-					   co.z() * s, cofac(0, 1, 2, 0) * s, cofac(0, 0, 1, 1) * s);
-}
-
-SIMD_FORCE_INLINE btMatrix3x3
-btMatrix3x3::transposeTimes(const btMatrix3x3& m) const
-{
-#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
-	// zeros w
-	//    static const __m128i xyzMask = (const __m128i){ -1ULL, 0xffffffffULL };
-	__m128 row = m_el[0].mVec128;
-	__m128 m0 = _mm_and_ps(m.getRow(0).mVec128, btvFFF0fMask);
-	__m128 m1 = _mm_and_ps(m.getRow(1).mVec128, btvFFF0fMask);
-	__m128 m2 = _mm_and_ps(m.getRow(2).mVec128, btvFFF0fMask);
-	__m128 r0 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0));
-	__m128 r1 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0x55));
-	__m128 r2 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0xaa));
-	row = m_el[1].mVec128;
-	r0 = _mm_add_ps(r0, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0)));
-	r1 = _mm_add_ps(r1, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0x55)));
-	r2 = _mm_add_ps(r2, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0xaa)));
-	row = m_el[2].mVec128;
-	r0 = _mm_add_ps(r0, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0)));
-	r1 = _mm_add_ps(r1, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0x55)));
-	r2 = _mm_add_ps(r2, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0xaa)));
-	return btMatrix3x3(r0, r1, r2);
-
-#elif defined BT_USE_NEON
-	// zeros w
-	static const uint32x4_t xyzMask = (const uint32x4_t){static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), 0};
-	float32x4_t m0 = (float32x4_t)vandq_u32((uint32x4_t)m.getRow(0).mVec128, xyzMask);
-	float32x4_t m1 = (float32x4_t)vandq_u32((uint32x4_t)m.getRow(1).mVec128, xyzMask);
-	float32x4_t m2 = (float32x4_t)vandq_u32((uint32x4_t)m.getRow(2).mVec128, xyzMask);
-	float32x4_t row = m_el[0].mVec128;
-	float32x4_t r0 = vmulq_lane_f32(m0, vget_low_f32(row), 0);
-	float32x4_t r1 = vmulq_lane_f32(m0, vget_low_f32(row), 1);
-	float32x4_t r2 = vmulq_lane_f32(m0, vget_high_f32(row), 0);
-	row = m_el[1].mVec128;
-	r0 = vmlaq_lane_f32(r0, m1, vget_low_f32(row), 0);
-	r1 = vmlaq_lane_f32(r1, m1, vget_low_f32(row), 1);
-	r2 = vmlaq_lane_f32(r2, m1, vget_high_f32(row), 0);
-	row = m_el[2].mVec128;
-	r0 = vmlaq_lane_f32(r0, m2, vget_low_f32(row), 0);
-	r1 = vmlaq_lane_f32(r1, m2, vget_low_f32(row), 1);
-	r2 = vmlaq_lane_f32(r2, m2, vget_high_f32(row), 0);
-	return btMatrix3x3(r0, r1, r2);
-#else
-	return btMatrix3x3(
-		m_el[0].x() * m[0].x() + m_el[1].x() * m[1].x() + m_el[2].x() * m[2].x(),
-		m_el[0].x() * m[0].y() + m_el[1].x() * m[1].y() + m_el[2].x() * m[2].y(),
-		m_el[0].x() * m[0].z() + m_el[1].x() * m[1].z() + m_el[2].x() * m[2].z(),
-		m_el[0].y() * m[0].x() + m_el[1].y() * m[1].x() + m_el[2].y() * m[2].x(),
-		m_el[0].y() * m[0].y() + m_el[1].y() * m[1].y() + m_el[2].y() * m[2].y(),
-		m_el[0].y() * m[0].z() + m_el[1].y() * m[1].z() + m_el[2].y() * m[2].z(),
-		m_el[0].z() * m[0].x() + m_el[1].z() * m[1].x() + m_el[2].z() * m[2].x(),
-		m_el[0].z() * m[0].y() + m_el[1].z() * m[1].y() + m_el[2].z() * m[2].y(),
-		m_el[0].z() * m[0].z() + m_el[1].z() * m[1].z() + m_el[2].z() * m[2].z());
-#endif
-}
-
-SIMD_FORCE_INLINE btMatrix3x3
-btMatrix3x3::timesTranspose(const btMatrix3x3& m) const
-{
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
-	__m128 a0 = m_el[0].mVec128;
-	__m128 a1 = m_el[1].mVec128;
-	__m128 a2 = m_el[2].mVec128;
-
-	btMatrix3x3 mT = m.transpose();  // we rely on transpose() zeroing w channel so that we don't have to do it here
-	__m128 mx = mT[0].mVec128;
-	__m128 my = mT[1].mVec128;
-	__m128 mz = mT[2].mVec128;
-
-	__m128 r0 = _mm_mul_ps(mx, _mm_shuffle_ps(a0, a0, 0x00));
-	__m128 r1 = _mm_mul_ps(mx, _mm_shuffle_ps(a1, a1, 0x00));
-	__m128 r2 = _mm_mul_ps(mx, _mm_shuffle_ps(a2, a2, 0x00));
-	r0 = _mm_add_ps(r0, _mm_mul_ps(my, _mm_shuffle_ps(a0, a0, 0x55)));
-	r1 = _mm_add_ps(r1, _mm_mul_ps(my, _mm_shuffle_ps(a1, a1, 0x55)));
-	r2 = _mm_add_ps(r2, _mm_mul_ps(my, _mm_shuffle_ps(a2, a2, 0x55)));
-	r0 = _mm_add_ps(r0, _mm_mul_ps(mz, _mm_shuffle_ps(a0, a0, 0xaa)));
-	r1 = _mm_add_ps(r1, _mm_mul_ps(mz, _mm_shuffle_ps(a1, a1, 0xaa)));
-	r2 = _mm_add_ps(r2, _mm_mul_ps(mz, _mm_shuffle_ps(a2, a2, 0xaa)));
-	return btMatrix3x3(r0, r1, r2);
-
-#elif defined BT_USE_NEON
-	float32x4_t a0 = m_el[0].mVec128;
-	float32x4_t a1 = m_el[1].mVec128;
-	float32x4_t a2 = m_el[2].mVec128;
-
-	btMatrix3x3 mT = m.transpose();  // we rely on transpose() zeroing w channel so that we don't have to do it here
-	float32x4_t mx = mT[0].mVec128;
-	float32x4_t my = mT[1].mVec128;
-	float32x4_t mz = mT[2].mVec128;
-
-	float32x4_t r0 = vmulq_lane_f32(mx, vget_low_f32(a0), 0);
-	float32x4_t r1 = vmulq_lane_f32(mx, vget_low_f32(a1), 0);
-	float32x4_t r2 = vmulq_lane_f32(mx, vget_low_f32(a2), 0);
-	r0 = vmlaq_lane_f32(r0, my, vget_low_f32(a0), 1);
-	r1 = vmlaq_lane_f32(r1, my, vget_low_f32(a1), 1);
-	r2 = vmlaq_lane_f32(r2, my, vget_low_f32(a2), 1);
-	r0 = vmlaq_lane_f32(r0, mz, vget_high_f32(a0), 0);
-	r1 = vmlaq_lane_f32(r1, mz, vget_high_f32(a1), 0);
-	r2 = vmlaq_lane_f32(r2, mz, vget_high_f32(a2), 0);
-	return btMatrix3x3(r0, r1, r2);
-
-#else
-	return btMatrix3x3(
-		m_el[0].dot(m[0]), m_el[0].dot(m[1]), m_el[0].dot(m[2]),
-		m_el[1].dot(m[0]), m_el[1].dot(m[1]), m_el[1].dot(m[2]),
-		m_el[2].dot(m[0]), m_el[2].dot(m[1]), m_el[2].dot(m[2]));
-#endif
-}
-
-SIMD_FORCE_INLINE btVector3
-operator*(const btMatrix3x3& m, const btVector3& v)
-{
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-	return v.dot3(m[0], m[1], m[2]);
-#else
-	return btVector3(m[0].dot(v), m[1].dot(v), m[2].dot(v));
-#endif
-}
-
-SIMD_FORCE_INLINE btVector3
-operator*(const btVector3& v, const btMatrix3x3& m)
-{
-#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
-
-	const __m128 vv = v.mVec128;
-
-	__m128 c0 = bt_splat_ps(vv, 0);
-	__m128 c1 = bt_splat_ps(vv, 1);
-	__m128 c2 = bt_splat_ps(vv, 2);
-
-	c0 = _mm_mul_ps(c0, _mm_and_ps(m[0].mVec128, btvFFF0fMask));
-	c1 = _mm_mul_ps(c1, _mm_and_ps(m[1].mVec128, btvFFF0fMask));
-	c0 = _mm_add_ps(c0, c1);
-	c2 = _mm_mul_ps(c2, _mm_and_ps(m[2].mVec128, btvFFF0fMask));
-
-	return btVector3(_mm_add_ps(c0, c2));
-#elif defined(BT_USE_NEON)
-	const float32x4_t vv = v.mVec128;
-	const float32x2_t vlo = vget_low_f32(vv);
-	const float32x2_t vhi = vget_high_f32(vv);
-
-	float32x4_t c0, c1, c2;
-
-	c0 = (float32x4_t)vandq_s32((int32x4_t)m[0].mVec128, btvFFF0Mask);
-	c1 = (float32x4_t)vandq_s32((int32x4_t)m[1].mVec128, btvFFF0Mask);
-	c2 = (float32x4_t)vandq_s32((int32x4_t)m[2].mVec128, btvFFF0Mask);
-
-	c0 = vmulq_lane_f32(c0, vlo, 0);
-	c1 = vmulq_lane_f32(c1, vlo, 1);
-	c2 = vmulq_lane_f32(c2, vhi, 0);
-	c0 = vaddq_f32(c0, c1);
-	c0 = vaddq_f32(c0, c2);
-
-	return btVector3(c0);
-#else
-	return btVector3(m.tdotx(v), m.tdoty(v), m.tdotz(v));
-#endif
-}
-
-SIMD_FORCE_INLINE btMatrix3x3
-operator*(const btMatrix3x3& m1, const btMatrix3x3& m2)
-{
-#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
-
-	__m128 m10 = m1[0].mVec128;
-	__m128 m11 = m1[1].mVec128;
-	__m128 m12 = m1[2].mVec128;
-
-	__m128 m2v = _mm_and_ps(m2[0].mVec128, btvFFF0fMask);
-
-	__m128 c0 = bt_splat_ps(m10, 0);
-	__m128 c1 = bt_splat_ps(m11, 0);
-	__m128 c2 = bt_splat_ps(m12, 0);
-
-	c0 = _mm_mul_ps(c0, m2v);
-	c1 = _mm_mul_ps(c1, m2v);
-	c2 = _mm_mul_ps(c2, m2v);
-
-	m2v = _mm_and_ps(m2[1].mVec128, btvFFF0fMask);
-
-	__m128 c0_1 = bt_splat_ps(m10, 1);
-	__m128 c1_1 = bt_splat_ps(m11, 1);
-	__m128 c2_1 = bt_splat_ps(m12, 1);
-
-	c0_1 = _mm_mul_ps(c0_1, m2v);
-	c1_1 = _mm_mul_ps(c1_1, m2v);
-	c2_1 = _mm_mul_ps(c2_1, m2v);
-
-	m2v = _mm_and_ps(m2[2].mVec128, btvFFF0fMask);
-
-	c0 = _mm_add_ps(c0, c0_1);
-	c1 = _mm_add_ps(c1, c1_1);
-	c2 = _mm_add_ps(c2, c2_1);
-
-	m10 = bt_splat_ps(m10, 2);
-	m11 = bt_splat_ps(m11, 2);
-	m12 = bt_splat_ps(m12, 2);
-
-	m10 = _mm_mul_ps(m10, m2v);
-	m11 = _mm_mul_ps(m11, m2v);
-	m12 = _mm_mul_ps(m12, m2v);
-
-	c0 = _mm_add_ps(c0, m10);
-	c1 = _mm_add_ps(c1, m11);
-	c2 = _mm_add_ps(c2, m12);
-
-	return btMatrix3x3(c0, c1, c2);
-
-#elif defined(BT_USE_NEON)
-
-	float32x4_t rv0, rv1, rv2;
-	float32x4_t v0, v1, v2;
-	float32x4_t mv0, mv1, mv2;
-
-	v0 = m1[0].mVec128;
-	v1 = m1[1].mVec128;
-	v2 = m1[2].mVec128;
-
-	mv0 = (float32x4_t)vandq_s32((int32x4_t)m2[0].mVec128, btvFFF0Mask);
-	mv1 = (float32x4_t)vandq_s32((int32x4_t)m2[1].mVec128, btvFFF0Mask);
-	mv2 = (float32x4_t)vandq_s32((int32x4_t)m2[2].mVec128, btvFFF0Mask);
-
-	rv0 = vmulq_lane_f32(mv0, vget_low_f32(v0), 0);
-	rv1 = vmulq_lane_f32(mv0, vget_low_f32(v1), 0);
-	rv2 = vmulq_lane_f32(mv0, vget_low_f32(v2), 0);
-
-	rv0 = vmlaq_lane_f32(rv0, mv1, vget_low_f32(v0), 1);
-	rv1 = vmlaq_lane_f32(rv1, mv1, vget_low_f32(v1), 1);
-	rv2 = vmlaq_lane_f32(rv2, mv1, vget_low_f32(v2), 1);
-
-	rv0 = vmlaq_lane_f32(rv0, mv2, vget_high_f32(v0), 0);
-	rv1 = vmlaq_lane_f32(rv1, mv2, vget_high_f32(v1), 0);
-	rv2 = vmlaq_lane_f32(rv2, mv2, vget_high_f32(v2), 0);
-
-	return btMatrix3x3(rv0, rv1, rv2);
-
-#else
-	return btMatrix3x3(
-		m2.tdotx(m1[0]), m2.tdoty(m1[0]), m2.tdotz(m1[0]),
-		m2.tdotx(m1[1]), m2.tdoty(m1[1]), m2.tdotz(m1[1]),
-		m2.tdotx(m1[2]), m2.tdoty(m1[2]), m2.tdotz(m1[2]));
-#endif
-}
-
-/*
-SIMD_FORCE_INLINE btMatrix3x3 btMultTransposeLeft(const btMatrix3x3& m1, const btMatrix3x3& m2) {
-return btMatrix3x3(
-m1[0][0] * m2[0][0] + m1[1][0] * m2[1][0] + m1[2][0] * m2[2][0],
-m1[0][0] * m2[0][1] + m1[1][0] * m2[1][1] + m1[2][0] * m2[2][1],
-m1[0][0] * m2[0][2] + m1[1][0] * m2[1][2] + m1[2][0] * m2[2][2],
-m1[0][1] * m2[0][0] + m1[1][1] * m2[1][0] + m1[2][1] * m2[2][0],
-m1[0][1] * m2[0][1] + m1[1][1] * m2[1][1] + m1[2][1] * m2[2][1],
-m1[0][1] * m2[0][2] + m1[1][1] * m2[1][2] + m1[2][1] * m2[2][2],
-m1[0][2] * m2[0][0] + m1[1][2] * m2[1][0] + m1[2][2] * m2[2][0],
-m1[0][2] * m2[0][1] + m1[1][2] * m2[1][1] + m1[2][2] * m2[2][1],
-m1[0][2] * m2[0][2] + m1[1][2] * m2[1][2] + m1[2][2] * m2[2][2]);
-}
-*/
-
-/**@brief Equality operator between two matrices
-* It will test all elements are equal.  */
-SIMD_FORCE_INLINE bool operator==(const btMatrix3x3& m1, const btMatrix3x3& m2)
-{
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
-
-	__m128 c0, c1, c2;
-
-	c0 = _mm_cmpeq_ps(m1[0].mVec128, m2[0].mVec128);
-	c1 = _mm_cmpeq_ps(m1[1].mVec128, m2[1].mVec128);
-	c2 = _mm_cmpeq_ps(m1[2].mVec128, m2[2].mVec128);
-
-	c0 = _mm_and_ps(c0, c1);
-	c0 = _mm_and_ps(c0, c2);
-
-	int m = _mm_movemask_ps((__m128)c0);
-	return (0x7 == (m & 0x7));
-
-#else
-	return (m1[0][0] == m2[0][0] && m1[1][0] == m2[1][0] && m1[2][0] == m2[2][0] &&
-			m1[0][1] == m2[0][1] && m1[1][1] == m2[1][1] && m1[2][1] == m2[2][1] &&
-			m1[0][2] == m2[0][2] && m1[1][2] == m2[1][2] && m1[2][2] == m2[2][2]);
-#endif
-}
-
-///for serialization
-struct btMatrix3x3FloatData
-{
-	btVector3FloatData m_el[3];
-};
-
-///for serialization
-struct btMatrix3x3DoubleData
-{
-	btVector3DoubleData m_el[3];
-};
-
-SIMD_FORCE_INLINE void btMatrix3x3::serialize(struct btMatrix3x3Data& dataOut) const
-{
-	for (int i = 0; i < 3; i++)
-		m_el[i].serialize(dataOut.m_el[i]);
-}
-
-SIMD_FORCE_INLINE void btMatrix3x3::serializeFloat(struct btMatrix3x3FloatData& dataOut) const
-{
-	for (int i = 0; i < 3; i++)
-		m_el[i].serializeFloat(dataOut.m_el[i]);
-}
-
-SIMD_FORCE_INLINE void btMatrix3x3::deSerialize(const struct btMatrix3x3Data& dataIn)
-{
-	for (int i = 0; i < 3; i++)
-		m_el[i].deSerialize(dataIn.m_el[i]);
-}
-
-SIMD_FORCE_INLINE void btMatrix3x3::deSerializeFloat(const struct btMatrix3x3FloatData& dataIn)
-{
-	for (int i = 0; i < 3; i++)
-		m_el[i].deSerializeFloat(dataIn.m_el[i]);
-}
-
-SIMD_FORCE_INLINE void btMatrix3x3::deSerializeDouble(const struct btMatrix3x3DoubleData& dataIn)
-{
-	for (int i = 0; i < 3; i++)
-		m_el[i].deSerializeDouble(dataIn.m_el[i]);
-}
-
-#endif  //BT_MATRIX3x3_H
diff --git a/thirdparty/bullet/LinearMath/btMatrixX.h b/thirdparty/bullet/LinearMath/btMatrixX.h
deleted file mode 100644
index bb0f0dd259..0000000000
--- a/thirdparty/bullet/LinearMath/btMatrixX.h
+++ /dev/null
@@ -1,532 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-///original version written by Erwin Coumans, October 2013
-
-#ifndef BT_MATRIX_X_H
-#define BT_MATRIX_X_H
-
-#include "LinearMath/btQuickprof.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include <stdio.h>
-
-//#define BT_DEBUG_OSTREAM
-#ifdef BT_DEBUG_OSTREAM
-#include <iostream>
-#include <iomanip>  // std::setw
-#endif              //BT_DEBUG_OSTREAM
-
-class btIntSortPredicate
-{
-public:
-	bool operator()(const int& a, const int& b) const
-	{
-		return a < b;
-	}
-};
-
-template <typename T>
-struct btVectorX
-{
-	btAlignedObjectArray<T> m_storage;
-
-	btVectorX()
-	{
-	}
-	btVectorX(int numRows)
-	{
-		m_storage.resize(numRows);
-	}
-
-	void resize(int rows)
-	{
-		m_storage.resize(rows);
-	}
-	int cols() const
-	{
-		return 1;
-	}
-	int rows() const
-	{
-		return m_storage.size();
-	}
-	int size() const
-	{
-		return rows();
-	}
-
-	T nrm2() const
-	{
-		T norm = T(0);
-
-		int nn = rows();
-
-		{
-			if (nn == 1)
-			{
-				norm = btFabs((*this)[0]);
-			}
-			else
-			{
-				T scale = 0.0;
-				T ssq = 1.0;
-
-				/* The following loop is equivalent to this call to the LAPACK
-				 auxiliary routine:   CALL SLASSQ( N, X, INCX, SCALE, SSQ ) */
-
-				for (int ix = 0; ix < nn; ix++)
-				{
-					if ((*this)[ix] != 0.0)
-					{
-						T absxi = btFabs((*this)[ix]);
-						if (scale < absxi)
-						{
-							T temp;
-							temp = scale / absxi;
-							ssq = ssq * (temp * temp) + BT_ONE;
-							scale = absxi;
-						}
-						else
-						{
-							T temp;
-							temp = absxi / scale;
-							ssq += temp * temp;
-						}
-					}
-				}
-				norm = scale * sqrt(ssq);
-			}
-		}
-		return norm;
-	}
-	void setZero()
-	{
-		if (m_storage.size())
-		{
-			//	for (int i=0;i<m_storage.size();i++)
-			//		m_storage[i]=0;
-			//memset(&m_storage[0],0,sizeof(T)*m_storage.size());
-			btSetZero(&m_storage[0], m_storage.size());
-		}
-	}
-	const T& operator[](int index) const
-	{
-		return m_storage[index];
-	}
-
-	T& operator[](int index)
-	{
-		return m_storage[index];
-	}
-
-	T* getBufferPointerWritable()
-	{
-		return m_storage.size() ? &m_storage[0] : 0;
-	}
-
-	const T* getBufferPointer() const
-	{
-		return m_storage.size() ? &m_storage[0] : 0;
-	}
-};
-/*
- template <typename T>
- void setElem(btMatrixX<T>& mat, int row, int col, T val)
- {
- mat.setElem(row,col,val);
- }
- */
-
-template <typename T>
-struct btMatrixX
-{
-	int m_rows;
-	int m_cols;
-	int m_operations;
-	int m_resizeOperations;
-	int m_setElemOperations;
-
-	btAlignedObjectArray<T> m_storage;
-	mutable btAlignedObjectArray<btAlignedObjectArray<int> > m_rowNonZeroElements1;
-
-	T* getBufferPointerWritable()
-	{
-		return m_storage.size() ? &m_storage[0] : 0;
-	}
-
-	const T* getBufferPointer() const
-	{
-		return m_storage.size() ? &m_storage[0] : 0;
-	}
-	btMatrixX()
-		: m_rows(0),
-		  m_cols(0),
-		  m_operations(0),
-		  m_resizeOperations(0),
-		  m_setElemOperations(0)
-	{
-	}
-	btMatrixX(int rows, int cols)
-		: m_rows(rows),
-		  m_cols(cols),
-		  m_operations(0),
-		  m_resizeOperations(0),
-		  m_setElemOperations(0)
-	{
-		resize(rows, cols);
-	}
-	void resize(int rows, int cols)
-	{
-		m_resizeOperations++;
-		m_rows = rows;
-		m_cols = cols;
-		{
-			BT_PROFILE("m_storage.resize");
-			m_storage.resize(rows * cols);
-		}
-	}
-	int cols() const
-	{
-		return m_cols;
-	}
-	int rows() const
-	{
-		return m_rows;
-	}
-	///we don't want this read/write operator(), because we cannot keep track of non-zero elements, use setElem instead
-	/*T& operator() (int row,int col)
-	{
-		return m_storage[col*m_rows+row];
-	}
-	*/
-
-	void addElem(int row, int col, T val)
-	{
-		if (val)
-		{
-			if (m_storage[col + row * m_cols] == 0.f)
-			{
-				setElem(row, col, val);
-			}
-			else
-			{
-				m_storage[row * m_cols + col] += val;
-			}
-		}
-	}
-
-	void setElem(int row, int col, T val)
-	{
-		m_setElemOperations++;
-		m_storage[row * m_cols + col] = val;
-	}
-
-	void mulElem(int row, int col, T val)
-	{
-		m_setElemOperations++;
-		//mul doesn't change sparsity info
-
-		m_storage[row * m_cols + col] *= val;
-	}
-
-	void copyLowerToUpperTriangle()
-	{
-		int count = 0;
-		for (int row = 0; row < rows(); row++)
-		{
-			for (int col = 0; col < row; col++)
-			{
-				setElem(col, row, (*this)(row, col));
-				count++;
-			}
-		}
-		//printf("copyLowerToUpperTriangle copied %d elements out of %dx%d=%d\n", count,rows(),cols(),cols()*rows());
-	}
-
-	const T& operator()(int row, int col) const
-	{
-		return m_storage[col + row * m_cols];
-	}
-
-	void setZero()
-	{
-		{
-			BT_PROFILE("storage=0");
-			if (m_storage.size())
-			{
-				btSetZero(&m_storage[0], m_storage.size());
-			}
-			//memset(&m_storage[0],0,sizeof(T)*m_storage.size());
-			//for (int i=0;i<m_storage.size();i++)
-			//			m_storage[i]=0;
-		}
-	}
-
-	void setIdentity()
-	{
-		btAssert(rows() == cols());
-
-		setZero();
-		for (int row = 0; row < rows(); row++)
-		{
-			setElem(row, row, 1);
-		}
-	}
-
-	void printMatrix(const char* msg) const
-	{
-		printf("%s ---------------------\n", msg);
-		for (int i = 0; i < rows(); i++)
-		{
-			printf("\n");
-			for (int j = 0; j < cols(); j++)
-			{
-				printf("%2.1f\t", (*this)(i, j));
-			}
-		}
-		printf("\n---------------------\n");
-	}
-
-	void rowComputeNonZeroElements() const
-	{
-		m_rowNonZeroElements1.resize(rows());
-		for (int i = 0; i < rows(); i++)
-		{
-			m_rowNonZeroElements1[i].resize(0);
-			for (int j = 0; j < cols(); j++)
-			{
-				if ((*this)(i, j) != 0.f)
-				{
-					m_rowNonZeroElements1[i].push_back(j);
-				}
-			}
-		}
-	}
-	btMatrixX transpose() const
-	{
-		//transpose is optimized for sparse matrices
-		btMatrixX tr(m_cols, m_rows);
-		tr.setZero();
-		for (int i = 0; i < m_cols; i++)
-			for (int j = 0; j < m_rows; j++)
-			{
-				T v = (*this)(j, i);
-				if (v)
-				{
-					tr.setElem(i, j, v);
-				}
-			}
-		return tr;
-	}
-
-	btMatrixX operator*(const btMatrixX& other)
-	{
-		//btMatrixX*btMatrixX implementation, brute force
-		btAssert(cols() == other.rows());
-
-		btMatrixX res(rows(), other.cols());
-		res.setZero();
-		//		BT_PROFILE("btMatrixX mul");
-		for (int i = 0; i < rows(); ++i)
-		{
-			{
-				for (int j = 0; j < other.cols(); ++j)
-				{
-					T dotProd = 0;
-					{
-						{
-							int c = cols();
-
-							for (int k = 0; k < c; k++)
-							{
-								T w = (*this)(i, k);
-								if (other(k, j) != 0.f)
-								{
-									dotProd += w * other(k, j);
-								}
-							}
-						}
-					}
-					if (dotProd)
-						res.setElem(i, j, dotProd);
-				}
-			}
-		}
-		return res;
-	}
-
-	// this assumes the 4th and 8th rows of B and C are zero.
-	void multiplyAdd2_p8r(const btScalar* B, const btScalar* C, int numRows, int numRowsOther, int row, int col)
-	{
-		const btScalar* bb = B;
-		for (int i = 0; i < numRows; i++)
-		{
-			const btScalar* cc = C;
-			for (int j = 0; j < numRowsOther; j++)
-			{
-				btScalar sum;
-				sum = bb[0] * cc[0];
-				sum += bb[1] * cc[1];
-				sum += bb[2] * cc[2];
-				sum += bb[4] * cc[4];
-				sum += bb[5] * cc[5];
-				sum += bb[6] * cc[6];
-				addElem(row + i, col + j, sum);
-				cc += 8;
-			}
-			bb += 8;
-		}
-	}
-
-	void multiply2_p8r(const btScalar* B, const btScalar* C, int numRows, int numRowsOther, int row, int col)
-	{
-		btAssert(numRows > 0 && numRowsOther > 0 && B && C);
-		const btScalar* bb = B;
-		for (int i = 0; i < numRows; i++)
-		{
-			const btScalar* cc = C;
-			for (int j = 0; j < numRowsOther; j++)
-			{
-				btScalar sum;
-				sum = bb[0] * cc[0];
-				sum += bb[1] * cc[1];
-				sum += bb[2] * cc[2];
-				sum += bb[4] * cc[4];
-				sum += bb[5] * cc[5];
-				sum += bb[6] * cc[6];
-				setElem(row + i, col + j, sum);
-				cc += 8;
-			}
-			bb += 8;
-		}
-	}
-
-	void setSubMatrix(int rowstart, int colstart, int rowend, int colend, const T value)
-	{
-		int numRows = rowend + 1 - rowstart;
-		int numCols = colend + 1 - colstart;
-
-		for (int row = 0; row < numRows; row++)
-		{
-			for (int col = 0; col < numCols; col++)
-			{
-				setElem(rowstart + row, colstart + col, value);
-			}
-		}
-	}
-
-	void setSubMatrix(int rowstart, int colstart, int rowend, int colend, const btMatrixX& block)
-	{
-		btAssert(rowend + 1 - rowstart == block.rows());
-		btAssert(colend + 1 - colstart == block.cols());
-		for (int row = 0; row < block.rows(); row++)
-		{
-			for (int col = 0; col < block.cols(); col++)
-			{
-				setElem(rowstart + row, colstart + col, block(row, col));
-			}
-		}
-	}
-	void setSubMatrix(int rowstart, int colstart, int rowend, int colend, const btVectorX<T>& block)
-	{
-		btAssert(rowend + 1 - rowstart == block.rows());
-		btAssert(colend + 1 - colstart == block.cols());
-		for (int row = 0; row < block.rows(); row++)
-		{
-			for (int col = 0; col < block.cols(); col++)
-			{
-				setElem(rowstart + row, colstart + col, block[row]);
-			}
-		}
-	}
-
-	btMatrixX negative()
-	{
-		btMatrixX neg(rows(), cols());
-		for (int i = 0; i < rows(); i++)
-			for (int j = 0; j < cols(); j++)
-			{
-				T v = (*this)(i, j);
-				neg.setElem(i, j, -v);
-			}
-		return neg;
-	}
-};
-
-typedef btMatrixX<float> btMatrixXf;
-typedef btVectorX<float> btVectorXf;
-
-typedef btMatrixX<double> btMatrixXd;
-typedef btVectorX<double> btVectorXd;
-
-#ifdef BT_DEBUG_OSTREAM
-template <typename T>
-std::ostream& operator<<(std::ostream& os, const btMatrixX<T>& mat)
-{
-	os << " [";
-	//printf("%s ---------------------\n",msg);
-	for (int i = 0; i < mat.rows(); i++)
-	{
-		for (int j = 0; j < mat.cols(); j++)
-		{
-			os << std::setw(12) << mat(i, j);
-		}
-		if (i != mat.rows() - 1)
-			os << std::endl
-			   << "  ";
-	}
-	os << " ]";
-	//printf("\n---------------------\n");
-
-	return os;
-}
-template <typename T>
-std::ostream& operator<<(std::ostream& os, const btVectorX<T>& mat)
-{
-	os << " [";
-	//printf("%s ---------------------\n",msg);
-	for (int i = 0; i < mat.rows(); i++)
-	{
-		os << std::setw(12) << mat[i];
-		if (i != mat.rows() - 1)
-			os << std::endl
-			   << "  ";
-	}
-	os << " ]";
-	//printf("\n---------------------\n");
-
-	return os;
-}
-
-#endif  //BT_DEBUG_OSTREAM
-
-inline void setElem(btMatrixXd& mat, int row, int col, double val)
-{
-	mat.setElem(row, col, val);
-}
-
-inline void setElem(btMatrixXf& mat, int row, int col, float val)
-{
-	mat.setElem(row, col, val);
-}
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btVectorXu btVectorXd
-#define btMatrixXu btMatrixXd
-#else
-#define btVectorXu btVectorXf
-#define btMatrixXu btMatrixXf
-#endif  //BT_USE_DOUBLE_PRECISION
-
-#endif  //BT_MATRIX_H_H
diff --git a/thirdparty/bullet/LinearMath/btMinMax.h b/thirdparty/bullet/LinearMath/btMinMax.h
deleted file mode 100644
index 92fea0275a..0000000000
--- a/thirdparty/bullet/LinearMath/btMinMax.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_GEN_MINMAX_H
-#define BT_GEN_MINMAX_H
-
-#include "btScalar.h"
-
-template <class T>
-SIMD_FORCE_INLINE const T& btMin(const T& a, const T& b)
-{
-	return a < b ? a : b;
-}
-
-template <class T>
-SIMD_FORCE_INLINE const T& btMax(const T& a, const T& b)
-{
-	return a > b ? a : b;
-}
-
-template <class T>
-SIMD_FORCE_INLINE const T& btClamped(const T& a, const T& lb, const T& ub)
-{
-	return a < lb ? lb : (ub < a ? ub : a);
-}
-
-template <class T>
-SIMD_FORCE_INLINE void btSetMin(T& a, const T& b)
-{
-	if (b < a)
-	{
-		a = b;
-	}
-}
-
-template <class T>
-SIMD_FORCE_INLINE void btSetMax(T& a, const T& b)
-{
-	if (a < b)
-	{
-		a = b;
-	}
-}
-
-template <class T>
-SIMD_FORCE_INLINE void btClamp(T& a, const T& lb, const T& ub)
-{
-	if (a < lb)
-	{
-		a = lb;
-	}
-	else if (ub < a)
-	{
-		a = ub;
-	}
-}
-
-#endif  //BT_GEN_MINMAX_H
diff --git a/thirdparty/bullet/LinearMath/btModifiedGramSchmidt.h b/thirdparty/bullet/LinearMath/btModifiedGramSchmidt.h
deleted file mode 100644
index 33bab8d650..0000000000
--- a/thirdparty/bullet/LinearMath/btModifiedGramSchmidt.h
+++ /dev/null
@@ -1,83 +0,0 @@
-//
-//  btModifiedGramSchmidt.h
-//  LinearMath
-//
-//  Created by Xuchen Han on 4/4/20.
-//
-
-#ifndef btModifiedGramSchmidt_h
-#define btModifiedGramSchmidt_h
-
-#include "btReducedVector.h"
-#include "btAlignedObjectArray.h"
-#include <iostream>
-#include <cmath>
-template<class TV>
-class btModifiedGramSchmidt
-{
-public:
-    btAlignedObjectArray<TV> m_in;
-    btAlignedObjectArray<TV> m_out;
-    
-    btModifiedGramSchmidt(const btAlignedObjectArray<TV>& vecs): m_in(vecs)
-    {
-        m_out.resize(0);
-    }
-    
-    void solve()
-    {
-        m_out.resize(m_in.size());
-        for (int i = 0; i < m_in.size(); ++i)
-        {
-//            printf("========= starting %d ==========\n", i);
-            TV v(m_in[i]);
-//            v.print();
-            for (int j = 0; j < i; ++j)
-            {
-                v = v - v.proj(m_out[j]);
-//                v.print();
-            }
-            v.normalize();
-            m_out[i] = v;
-//            v.print();
-        }
-    }
-    
-    void test()
-    {
-        std::cout << SIMD_EPSILON << std::endl;
-        printf("=======inputs=========\n");
-        for (int i = 0; i < m_out.size(); ++i)
-        {
-            m_in[i].print();
-        }
-        printf("=======output=========\n");
-        for (int i = 0; i < m_out.size(); ++i)
-        {
-            m_out[i].print();
-        }
-        btScalar eps = SIMD_EPSILON;
-        for (int i = 0; i < m_out.size(); ++i)
-        {
-            for (int j = 0; j < m_out.size(); ++j)
-            {
-                if (i == j)
-                {
-                    if (std::abs(1.0-m_out[i].dot(m_out[j])) > eps)// && std::abs(m_out[i].dot(m_out[j])) > eps)
-                    {
-                        printf("vec[%d] is not unit, norm squared = %f\n", i,m_out[i].dot(m_out[j]));
-                    }
-                }
-                else
-                {
-                    if (std::abs(m_out[i].dot(m_out[j])) > eps)
-                    {
-                        printf("vec[%d] and vec[%d] is not orthogonal, dot product = %f\n", i, j, m_out[i].dot(m_out[j]));
-                    }
-                }
-            }
-        }
-    }
-};
-template class btModifiedGramSchmidt<btReducedVector>;
-#endif /* btModifiedGramSchmidt_h */
diff --git a/thirdparty/bullet/LinearMath/btMotionState.h b/thirdparty/bullet/LinearMath/btMotionState.h
deleted file mode 100644
index ae6a51611d..0000000000
--- a/thirdparty/bullet/LinearMath/btMotionState.h
+++ /dev/null
@@ -1,36 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_MOTIONSTATE_H
-#define BT_MOTIONSTATE_H
-
-#include "btTransform.h"
-
-///The btMotionState interface class allows the dynamics world to synchronize and interpolate the updated world transforms with graphics
-///For optimizations, potentially only moving objects get synchronized (using setWorldPosition/setWorldOrientation)
-class btMotionState
-{
-public:
-	virtual ~btMotionState()
-	{
-	}
-
-	virtual void getWorldTransform(btTransform& worldTrans) const = 0;
-
-	//Bullet only calls the update of worldtransform for active objects
-	virtual void setWorldTransform(const btTransform& worldTrans) = 0;
-};
-
-#endif  //BT_MOTIONSTATE_H
diff --git a/thirdparty/bullet/LinearMath/btPolarDecomposition.cpp b/thirdparty/bullet/LinearMath/btPolarDecomposition.cpp
deleted file mode 100644
index d9c72a8014..0000000000
--- a/thirdparty/bullet/LinearMath/btPolarDecomposition.cpp
+++ /dev/null
@@ -1,94 +0,0 @@
-#include "btPolarDecomposition.h"
-#include "btMinMax.h"
-
-namespace
-{
-btScalar abs_column_sum(const btMatrix3x3& a, int i)
-{
-	return btFabs(a[0][i]) + btFabs(a[1][i]) + btFabs(a[2][i]);
-}
-
-btScalar abs_row_sum(const btMatrix3x3& a, int i)
-{
-	return btFabs(a[i][0]) + btFabs(a[i][1]) + btFabs(a[i][2]);
-}
-
-btScalar p1_norm(const btMatrix3x3& a)
-{
-	const btScalar sum0 = abs_column_sum(a, 0);
-	const btScalar sum1 = abs_column_sum(a, 1);
-	const btScalar sum2 = abs_column_sum(a, 2);
-	return btMax(btMax(sum0, sum1), sum2);
-}
-
-btScalar pinf_norm(const btMatrix3x3& a)
-{
-	const btScalar sum0 = abs_row_sum(a, 0);
-	const btScalar sum1 = abs_row_sum(a, 1);
-	const btScalar sum2 = abs_row_sum(a, 2);
-	return btMax(btMax(sum0, sum1), sum2);
-}
-}  // namespace
-
-btPolarDecomposition::btPolarDecomposition(btScalar tolerance, unsigned int maxIterations)
-	: m_tolerance(tolerance), m_maxIterations(maxIterations)
-{
-}
-
-unsigned int btPolarDecomposition::decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const
-{
-	// Use the 'u' and 'h' matrices for intermediate calculations
-	u = a;
-	h = a.inverse();
-
-	for (unsigned int i = 0; i < m_maxIterations; ++i)
-	{
-		const btScalar h_1 = p1_norm(h);
-		const btScalar h_inf = pinf_norm(h);
-		const btScalar u_1 = p1_norm(u);
-		const btScalar u_inf = pinf_norm(u);
-
-		const btScalar h_norm = h_1 * h_inf;
-		const btScalar u_norm = u_1 * u_inf;
-
-		// The matrix is effectively singular so we cannot invert it
-		if (btFuzzyZero(h_norm) || btFuzzyZero(u_norm))
-			break;
-
-		const btScalar gamma = btPow(h_norm / u_norm, 0.25f);
-		const btScalar inv_gamma = btScalar(1.0) / gamma;
-
-		// Determine the delta to 'u'
-		const btMatrix3x3 delta = (u * (gamma - btScalar(2.0)) + h.transpose() * inv_gamma) * btScalar(0.5);
-
-		// Update the matrices
-		u += delta;
-		h = u.inverse();
-
-		// Check for convergence
-		if (p1_norm(delta) <= m_tolerance * u_1)
-		{
-			h = u.transpose() * a;
-			h = (h + h.transpose()) * 0.5;
-			return i;
-		}
-	}
-
-	// The algorithm has failed to converge to the specified tolerance, but we
-	// want to make sure that the matrices returned are in the right form.
-	h = u.transpose() * a;
-	h = (h + h.transpose()) * 0.5;
-
-	return m_maxIterations;
-}
-
-unsigned int btPolarDecomposition::maxIterations() const
-{
-	return m_maxIterations;
-}
-
-unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h)
-{
-	static btPolarDecomposition polar;
-	return polar.decompose(a, u, h);
-}
diff --git a/thirdparty/bullet/LinearMath/btPolarDecomposition.h b/thirdparty/bullet/LinearMath/btPolarDecomposition.h
deleted file mode 100644
index bf29140a14..0000000000
--- a/thirdparty/bullet/LinearMath/btPolarDecomposition.h
+++ /dev/null
@@ -1,69 +0,0 @@
-#ifndef POLARDECOMPOSITION_H
-#define POLARDECOMPOSITION_H
-
-#include "btMatrix3x3.h"
-
-/**
- * This class is used to compute the polar decomposition of a matrix. In
- * general, the polar decomposition factorizes a matrix, A, into two parts: a
- * unitary matrix (U) and a positive, semi-definite Hermitian matrix (H).
- * However, in this particular implementation the original matrix, A, is
- * required to be a square 3x3 matrix with real elements. This means that U will
- * be an orthogonal matrix and H with be a positive-definite, symmetric matrix.
- */
-class btPolarDecomposition
-{
-public:
-	/**
-     * Creates an instance with optional parameters.
-     *
-     * @param tolerance     - the tolerance used to determine convergence of the
-     *                        algorithm
-     * @param maxIterations - the maximum number of iterations used to achieve
-     *                        convergence
-     */
-	btPolarDecomposition(btScalar tolerance = btScalar(0.0001),
-						 unsigned int maxIterations = 16);
-
-	/**
-     * Decomposes a matrix into orthogonal and symmetric, positive-definite
-     * parts. If the number of iterations returned by this function is equal to
-     * the maximum number of iterations, the algorithm has failed to converge.
-     *
-     * @param a - the original matrix
-     * @param u - the resulting orthogonal matrix
-     * @param h - the resulting symmetric matrix
-     *
-     * @return the number of iterations performed by the algorithm.
-     */
-	unsigned int decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const;
-
-	/**
-     * Returns the maximum number of iterations that this algorithm will perform
-     * to achieve convergence.
-     *
-     * @return maximum number of iterations
-     */
-	unsigned int maxIterations() const;
-
-private:
-	btScalar m_tolerance;
-	unsigned int m_maxIterations;
-};
-
-/**
- * This functions decomposes the matrix 'a' into two parts: an orthogonal matrix
- * 'u' and a symmetric, positive-definite matrix 'h'. If the number of
- * iterations returned by this function is equal to
- * btPolarDecomposition::DEFAULT_MAX_ITERATIONS, the algorithm has failed to
- * converge.
- *
- * @param a - the original matrix
- * @param u - the resulting orthogonal matrix
- * @param h - the resulting symmetric matrix
- *
- * @return the number of iterations performed by the algorithm.
- */
-unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h);
-
-#endif  // POLARDECOMPOSITION_H
diff --git a/thirdparty/bullet/LinearMath/btPoolAllocator.h b/thirdparty/bullet/LinearMath/btPoolAllocator.h
deleted file mode 100644
index 4e7b49660a..0000000000
--- a/thirdparty/bullet/LinearMath/btPoolAllocator.h
+++ /dev/null
@@ -1,130 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef _BT_POOL_ALLOCATOR_H
-#define _BT_POOL_ALLOCATOR_H
-
-#include "btScalar.h"
-#include "btAlignedAllocator.h"
-#include "btThreads.h"
-
-///The btPoolAllocator class allows to efficiently allocate a large pool of objects, instead of dynamically allocating them separately.
-class btPoolAllocator
-{
-	int m_elemSize;
-	int m_maxElements;
-	int m_freeCount;
-	void* m_firstFree;
-	unsigned char* m_pool;
-	btSpinMutex m_mutex;  // only used if BT_THREADSAFE
-
-public:
-	btPoolAllocator(int elemSize, int maxElements)
-		: m_elemSize(elemSize),
-		  m_maxElements(maxElements)
-	{
-		m_pool = (unsigned char*)btAlignedAlloc(static_cast<unsigned int>(m_elemSize * m_maxElements), 16);
-
-		unsigned char* p = m_pool;
-		m_firstFree = p;
-		m_freeCount = m_maxElements;
-		int count = m_maxElements;
-		while (--count)
-		{
-			*(void**)p = (p + m_elemSize);
-			p += m_elemSize;
-		}
-		*(void**)p = 0;
-	}
-
-	~btPoolAllocator()
-	{
-		btAlignedFree(m_pool);
-	}
-
-	int getFreeCount() const
-	{
-		return m_freeCount;
-	}
-
-	int getUsedCount() const
-	{
-		return m_maxElements - m_freeCount;
-	}
-
-	int getMaxCount() const
-	{
-		return m_maxElements;
-	}
-
-	void* allocate(int size)
-	{
-		// release mode fix
-		(void)size;
-		btMutexLock(&m_mutex);
-		btAssert(!size || size <= m_elemSize);
-		//btAssert(m_freeCount>0);  // should return null if all full
-		void* result = m_firstFree;
-		if (NULL != m_firstFree)
-		{
-			m_firstFree = *(void**)m_firstFree;
-			--m_freeCount;
-		}
-		btMutexUnlock(&m_mutex);
-		return result;
-	}
-
-	bool validPtr(void* ptr)
-	{
-		if (ptr)
-		{
-			if (((unsigned char*)ptr >= m_pool && (unsigned char*)ptr < m_pool + m_maxElements * m_elemSize))
-			{
-				return true;
-			}
-		}
-		return false;
-	}
-
-	void freeMemory(void* ptr)
-	{
-		if (ptr)
-		{
-			btAssert((unsigned char*)ptr >= m_pool && (unsigned char*)ptr < m_pool + m_maxElements * m_elemSize);
-
-			btMutexLock(&m_mutex);
-			*(void**)ptr = m_firstFree;
-			m_firstFree = ptr;
-			++m_freeCount;
-			btMutexUnlock(&m_mutex);
-		}
-	}
-
-	int getElementSize() const
-	{
-		return m_elemSize;
-	}
-
-	unsigned char* getPoolAddress()
-	{
-		return m_pool;
-	}
-
-	const unsigned char* getPoolAddress() const
-	{
-		return m_pool;
-	}
-};
-
-#endif  //_BT_POOL_ALLOCATOR_H
diff --git a/thirdparty/bullet/LinearMath/btQuadWord.h b/thirdparty/bullet/LinearMath/btQuadWord.h
deleted file mode 100644
index ab2d3175ad..0000000000
--- a/thirdparty/bullet/LinearMath/btQuadWord.h
+++ /dev/null
@@ -1,238 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SIMD_QUADWORD_H
-#define BT_SIMD_QUADWORD_H
-
-#include "btScalar.h"
-#include "btMinMax.h"
-
-#if defined(__CELLOS_LV2) && defined(__SPU__)
-#include <altivec.h>
-#endif
-
-/**@brief The btQuadWord class is base class for btVector3 and btQuaternion. 
- * Some issues under PS3 Linux with IBM 2.1 SDK, gcc compiler prevent from using aligned quadword.
- */
-#ifndef USE_LIBSPE2
-ATTRIBUTE_ALIGNED16(class)
-btQuadWord
-#else
-class btQuadWord
-#endif
-{
-protected:
-#if defined(__SPU__) && defined(__CELLOS_LV2__)
-	union {
-		vec_float4 mVec128;
-		btScalar m_floats[4];
-	};
-
-public:
-	vec_float4 get128() const
-	{
-		return mVec128;
-	}
-
-protected:
-#else  //__CELLOS_LV2__ __SPU__
-
-#if defined(BT_USE_SSE) || defined(BT_USE_NEON)
-	union {
-		btSimdFloat4 mVec128;
-		btScalar m_floats[4];
-	};
-
-public:
-	SIMD_FORCE_INLINE btSimdFloat4 get128() const
-	{
-		return mVec128;
-	}
-	SIMD_FORCE_INLINE void set128(btSimdFloat4 v128)
-	{
-		mVec128 = v128;
-	}
-#else
-	btScalar m_floats[4];
-#endif  // BT_USE_SSE
-
-#endif  //__CELLOS_LV2__ __SPU__
-
-public:
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-
-	// Set Vector
-	SIMD_FORCE_INLINE btQuadWord(const btSimdFloat4 vec)
-	{
-		mVec128 = vec;
-	}
-
-	// Copy constructor
-	SIMD_FORCE_INLINE btQuadWord(const btQuadWord& rhs)
-	{
-		mVec128 = rhs.mVec128;
-	}
-
-	// Assignment Operator
-	SIMD_FORCE_INLINE btQuadWord&
-	operator=(const btQuadWord& v)
-	{
-		mVec128 = v.mVec128;
-
-		return *this;
-	}
-
-#endif
-
-	/**@brief Return the x value */
-	SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; }
-	/**@brief Return the y value */
-	SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; }
-	/**@brief Return the z value */
-	SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; }
-	/**@brief Set the x value */
-	SIMD_FORCE_INLINE void setX(btScalar _x) { m_floats[0] = _x; };
-	/**@brief Set the y value */
-	SIMD_FORCE_INLINE void setY(btScalar _y) { m_floats[1] = _y; };
-	/**@brief Set the z value */
-	SIMD_FORCE_INLINE void setZ(btScalar _z) { m_floats[2] = _z; };
-	/**@brief Set the w value */
-	SIMD_FORCE_INLINE void setW(btScalar _w) { m_floats[3] = _w; };
-	/**@brief Return the x value */
-	SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; }
-	/**@brief Return the y value */
-	SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; }
-	/**@brief Return the z value */
-	SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; }
-	/**@brief Return the w value */
-	SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; }
-
-	//SIMD_FORCE_INLINE btScalar&       operator[](int i)       { return (&m_floats[0])[i];	}
-	//SIMD_FORCE_INLINE const btScalar& operator[](int i) const { return (&m_floats[0])[i]; }
-	///operator btScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons.
-	SIMD_FORCE_INLINE operator btScalar*() { return &m_floats[0]; }
-	SIMD_FORCE_INLINE operator const btScalar*() const { return &m_floats[0]; }
-
-	SIMD_FORCE_INLINE bool operator==(const btQuadWord& other) const
-	{
-#ifdef BT_USE_SSE
-		return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128)));
-#else
-		return ((m_floats[3] == other.m_floats[3]) &&
-				(m_floats[2] == other.m_floats[2]) &&
-				(m_floats[1] == other.m_floats[1]) &&
-				(m_floats[0] == other.m_floats[0]));
-#endif
-	}
-
-	SIMD_FORCE_INLINE bool operator!=(const btQuadWord& other) const
-	{
-		return !(*this == other);
-	}
-
-	/**@brief Set x,y,z and zero w 
-   * @param x Value of x
-   * @param y Value of y
-   * @param z Value of z
-   */
-	SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z)
-	{
-		m_floats[0] = _x;
-		m_floats[1] = _y;
-		m_floats[2] = _z;
-		m_floats[3] = 0.f;
-	}
-
-	/*		void getValue(btScalar *m) const 
-		{
-			m[0] = m_floats[0];
-			m[1] = m_floats[1];
-			m[2] = m_floats[2];
-		}
-*/
-	/**@brief Set the values 
-   * @param x Value of x
-   * @param y Value of y
-   * @param z Value of z
-   * @param w Value of w
-   */
-	SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w)
-	{
-		m_floats[0] = _x;
-		m_floats[1] = _y;
-		m_floats[2] = _z;
-		m_floats[3] = _w;
-	}
-	/**@brief No initialization constructor */
-	SIMD_FORCE_INLINE btQuadWord()
-	//	:m_floats[0](btScalar(0.)),m_floats[1](btScalar(0.)),m_floats[2](btScalar(0.)),m_floats[3](btScalar(0.))
-	{
-	}
-
-	/**@brief Three argument constructor (zeros w)
-   * @param x Value of x
-   * @param y Value of y
-   * @param z Value of z
-   */
-	SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z)
-	{
-		m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = 0.0f;
-	}
-
-	/**@brief Initializing constructor
-   * @param x Value of x
-   * @param y Value of y
-   * @param z Value of z
-   * @param w Value of w
-   */
-	SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w)
-	{
-		m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = _w;
-	}
-
-	/**@brief Set each element to the max of the current values and the values of another btQuadWord
-   * @param other The other btQuadWord to compare with 
-   */
-	SIMD_FORCE_INLINE void setMax(const btQuadWord& other)
-	{
-#ifdef BT_USE_SSE
-		mVec128 = _mm_max_ps(mVec128, other.mVec128);
-#elif defined(BT_USE_NEON)
-		mVec128 = vmaxq_f32(mVec128, other.mVec128);
-#else
-		btSetMax(m_floats[0], other.m_floats[0]);
-		btSetMax(m_floats[1], other.m_floats[1]);
-		btSetMax(m_floats[2], other.m_floats[2]);
-		btSetMax(m_floats[3], other.m_floats[3]);
-#endif
-	}
-	/**@brief Set each element to the min of the current values and the values of another btQuadWord
-   * @param other The other btQuadWord to compare with 
-   */
-	SIMD_FORCE_INLINE void setMin(const btQuadWord& other)
-	{
-#ifdef BT_USE_SSE
-		mVec128 = _mm_min_ps(mVec128, other.mVec128);
-#elif defined(BT_USE_NEON)
-		mVec128 = vminq_f32(mVec128, other.mVec128);
-#else
-		btSetMin(m_floats[0], other.m_floats[0]);
-		btSetMin(m_floats[1], other.m_floats[1]);
-		btSetMin(m_floats[2], other.m_floats[2]);
-		btSetMin(m_floats[3], other.m_floats[3]);
-#endif
-	}
-};
-
-#endif  //BT_SIMD_QUADWORD_H
diff --git a/thirdparty/bullet/LinearMath/btQuaternion.h b/thirdparty/bullet/LinearMath/btQuaternion.h
deleted file mode 100644
index 53e8169b80..0000000000
--- a/thirdparty/bullet/LinearMath/btQuaternion.h
+++ /dev/null
@@ -1,1021 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SIMD__QUATERNION_H_
-#define BT_SIMD__QUATERNION_H_
-
-#include "btVector3.h"
-#include "btQuadWord.h"
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btQuaternionData btQuaternionDoubleData
-#define btQuaternionDataName "btQuaternionDoubleData"
-#else
-#define btQuaternionData btQuaternionFloatData
-#define btQuaternionDataName "btQuaternionFloatData"
-#endif  //BT_USE_DOUBLE_PRECISION
-
-#ifdef BT_USE_SSE
-
-//const __m128 ATTRIBUTE_ALIGNED16(vOnes) = {1.0f, 1.0f, 1.0f, 1.0f};
-#define vOnes (_mm_set_ps(1.0f, 1.0f, 1.0f, 1.0f))
-
-#endif
-
-#if defined(BT_USE_SSE)
-
-#define vQInv (_mm_set_ps(+0.0f, -0.0f, -0.0f, -0.0f))
-#define vPPPM (_mm_set_ps(-0.0f, +0.0f, +0.0f, +0.0f))
-
-#elif defined(BT_USE_NEON)
-
-const btSimdFloat4 ATTRIBUTE_ALIGNED16(vQInv) = {-0.0f, -0.0f, -0.0f, +0.0f};
-const btSimdFloat4 ATTRIBUTE_ALIGNED16(vPPPM) = {+0.0f, +0.0f, +0.0f, -0.0f};
-
-#endif
-
-/**@brief The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatrix3x3, btVector3 and btTransform. */
-class btQuaternion : public btQuadWord
-{
-public:
-	/**@brief No initialization constructor */
-	btQuaternion() {}
-
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-	// Set Vector
-	SIMD_FORCE_INLINE btQuaternion(const btSimdFloat4 vec)
-	{
-		mVec128 = vec;
-	}
-
-	// Copy constructor
-	SIMD_FORCE_INLINE btQuaternion(const btQuaternion& rhs)
-	{
-		mVec128 = rhs.mVec128;
-	}
-
-	// Assignment Operator
-	SIMD_FORCE_INLINE btQuaternion&
-	operator=(const btQuaternion& v)
-	{
-		mVec128 = v.mVec128;
-
-		return *this;
-	}
-
-#endif
-
-	//		template <typename btScalar>
-	//		explicit Quaternion(const btScalar *v) : Tuple4<btScalar>(v) {}
-	/**@brief Constructor from scalars */
-	btQuaternion(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w)
-		: btQuadWord(_x, _y, _z, _w)
-	{
-	}
-	/**@brief Axis angle Constructor
-   * @param axis The axis which the rotation is around
-   * @param angle The magnitude of the rotation around the angle (Radians) */
-	btQuaternion(const btVector3& _axis, const btScalar& _angle)
-	{
-		setRotation(_axis, _angle);
-	}
-	/**@brief Constructor from Euler angles
-   * @param yaw Angle around Y unless BT_EULER_DEFAULT_ZYX defined then Z
-   * @param pitch Angle around X unless BT_EULER_DEFAULT_ZYX defined then Y
-   * @param roll Angle around Z unless BT_EULER_DEFAULT_ZYX defined then X */
-	btQuaternion(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
-	{
-#ifndef BT_EULER_DEFAULT_ZYX
-		setEuler(yaw, pitch, roll);
-#else
-		setEulerZYX(yaw, pitch, roll);
-#endif
-	}
-	/**@brief Set the rotation using axis angle notation 
-   * @param axis The axis around which to rotate
-   * @param angle The magnitude of the rotation in Radians */
-	void setRotation(const btVector3& axis, const btScalar& _angle)
-	{
-		btScalar d = axis.length();
-		btAssert(d != btScalar(0.0));
-		btScalar s = btSin(_angle * btScalar(0.5)) / d;
-		setValue(axis.x() * s, axis.y() * s, axis.z() * s,
-				 btCos(_angle * btScalar(0.5)));
-	}
-	/**@brief Set the quaternion using Euler angles
-   * @param yaw Angle around Y
-   * @param pitch Angle around X
-   * @param roll Angle around Z */
-	void setEuler(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
-	{
-		btScalar halfYaw = btScalar(yaw) * btScalar(0.5);
-		btScalar halfPitch = btScalar(pitch) * btScalar(0.5);
-		btScalar halfRoll = btScalar(roll) * btScalar(0.5);
-		btScalar cosYaw = btCos(halfYaw);
-		btScalar sinYaw = btSin(halfYaw);
-		btScalar cosPitch = btCos(halfPitch);
-		btScalar sinPitch = btSin(halfPitch);
-		btScalar cosRoll = btCos(halfRoll);
-		btScalar sinRoll = btSin(halfRoll);
-		setValue(cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw,
-				 cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw,
-				 sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw,
-				 cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw);
-	}
-	/**@brief Set the quaternion using euler angles 
-   * @param yaw Angle around Z
-   * @param pitch Angle around Y
-   * @param roll Angle around X */
-	void setEulerZYX(const btScalar& yawZ, const btScalar& pitchY, const btScalar& rollX)
-	{
-		btScalar halfYaw = btScalar(yawZ) * btScalar(0.5);
-		btScalar halfPitch = btScalar(pitchY) * btScalar(0.5);
-		btScalar halfRoll = btScalar(rollX) * btScalar(0.5);
-		btScalar cosYaw = btCos(halfYaw);
-		btScalar sinYaw = btSin(halfYaw);
-		btScalar cosPitch = btCos(halfPitch);
-		btScalar sinPitch = btSin(halfPitch);
-		btScalar cosRoll = btCos(halfRoll);
-		btScalar sinRoll = btSin(halfRoll);
-		setValue(sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw,   //x
-				 cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw,   //y
-				 cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw,   //z
-				 cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw);  //formerly yzx
-	}
-
-	/**@brief Get the euler angles from this quaternion
-	   * @param yaw Angle around Z
-	   * @param pitch Angle around Y
-	   * @param roll Angle around X */
-	void getEulerZYX(btScalar& yawZ, btScalar& pitchY, btScalar& rollX) const
-	{
-		btScalar squ;
-		btScalar sqx;
-		btScalar sqy;
-		btScalar sqz;
-		btScalar sarg;
-		sqx = m_floats[0] * m_floats[0];
-		sqy = m_floats[1] * m_floats[1];
-		sqz = m_floats[2] * m_floats[2];
-		squ = m_floats[3] * m_floats[3];
-		sarg = btScalar(-2.) * (m_floats[0] * m_floats[2] - m_floats[3] * m_floats[1]);
-
-		// If the pitch angle is PI/2 or -PI/2, we can only compute
-		// the sum roll + yaw.  However, any combination that gives
-		// the right sum will produce the correct orientation, so we
-		// set rollX = 0 and compute yawZ.
-		if (sarg <= -btScalar(0.99999))
-		{
-			pitchY = btScalar(-0.5) * SIMD_PI;
-			rollX = 0;
-			yawZ = btScalar(2) * btAtan2(m_floats[0], -m_floats[1]);
-		}
-		else if (sarg >= btScalar(0.99999))
-		{
-			pitchY = btScalar(0.5) * SIMD_PI;
-			rollX = 0;
-			yawZ = btScalar(2) * btAtan2(-m_floats[0], m_floats[1]);
-		}
-		else
-		{
-			pitchY = btAsin(sarg);
-			rollX = btAtan2(2 * (m_floats[1] * m_floats[2] + m_floats[3] * m_floats[0]), squ - sqx - sqy + sqz);
-			yawZ = btAtan2(2 * (m_floats[0] * m_floats[1] + m_floats[3] * m_floats[2]), squ + sqx - sqy - sqz);
-		}
-	}
-
-	/**@brief Add two quaternions
-   * @param q The quaternion to add to this one */
-	SIMD_FORCE_INLINE btQuaternion& operator+=(const btQuaternion& q)
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		mVec128 = _mm_add_ps(mVec128, q.mVec128);
-#elif defined(BT_USE_NEON)
-		mVec128 = vaddq_f32(mVec128, q.mVec128);
-#else
-		m_floats[0] += q.x();
-		m_floats[1] += q.y();
-		m_floats[2] += q.z();
-		m_floats[3] += q.m_floats[3];
-#endif
-		return *this;
-	}
-
-	/**@brief Subtract out a quaternion
-   * @param q The quaternion to subtract from this one */
-	btQuaternion& operator-=(const btQuaternion& q)
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		mVec128 = _mm_sub_ps(mVec128, q.mVec128);
-#elif defined(BT_USE_NEON)
-		mVec128 = vsubq_f32(mVec128, q.mVec128);
-#else
-		m_floats[0] -= q.x();
-		m_floats[1] -= q.y();
-		m_floats[2] -= q.z();
-		m_floats[3] -= q.m_floats[3];
-#endif
-		return *this;
-	}
-
-	/**@brief Scale this quaternion
-   * @param s The scalar to scale by */
-	btQuaternion& operator*=(const btScalar& s)
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		__m128 vs = _mm_load_ss(&s);  //	(S 0 0 0)
-		vs = bt_pshufd_ps(vs, 0);     //	(S S S S)
-		mVec128 = _mm_mul_ps(mVec128, vs);
-#elif defined(BT_USE_NEON)
-		mVec128 = vmulq_n_f32(mVec128, s);
-#else
-		m_floats[0] *= s;
-		m_floats[1] *= s;
-		m_floats[2] *= s;
-		m_floats[3] *= s;
-#endif
-		return *this;
-	}
-
-	/**@brief Multiply this quaternion by q on the right
-   * @param q The other quaternion 
-   * Equivilant to this = this * q */
-	btQuaternion& operator*=(const btQuaternion& q)
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		__m128 vQ2 = q.get128();
-
-		__m128 A1 = bt_pshufd_ps(mVec128, BT_SHUFFLE(0, 1, 2, 0));
-		__m128 B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(3, 3, 3, 0));
-
-		A1 = A1 * B1;
-
-		__m128 A2 = bt_pshufd_ps(mVec128, BT_SHUFFLE(1, 2, 0, 1));
-		__m128 B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2, 0, 1, 1));
-
-		A2 = A2 * B2;
-
-		B1 = bt_pshufd_ps(mVec128, BT_SHUFFLE(2, 0, 1, 2));
-		B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1, 2, 0, 2));
-
-		B1 = B1 * B2;  //	A3 *= B3
-
-		mVec128 = bt_splat_ps(mVec128, 3);  //	A0
-		mVec128 = mVec128 * vQ2;            //	A0 * B0
-
-		A1 = A1 + A2;                //	AB12
-		mVec128 = mVec128 - B1;      //	AB03 = AB0 - AB3
-		A1 = _mm_xor_ps(A1, vPPPM);  //	change sign of the last element
-		mVec128 = mVec128 + A1;      //	AB03 + AB12
-
-#elif defined(BT_USE_NEON)
-
-		float32x4_t vQ1 = mVec128;
-		float32x4_t vQ2 = q.get128();
-		float32x4_t A0, A1, B1, A2, B2, A3, B3;
-		float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz;
-
-		{
-			float32x2x2_t tmp;
-			tmp = vtrn_f32(vget_high_f32(vQ1), vget_low_f32(vQ1));  // {z x}, {w y}
-			vQ1zx = tmp.val[0];
-
-			tmp = vtrn_f32(vget_high_f32(vQ2), vget_low_f32(vQ2));  // {z x}, {w y}
-			vQ2zx = tmp.val[0];
-		}
-		vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1);
-
-		vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
-
-		vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
-		vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
-
-		A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx);                     // X Y  z x
-		B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx);  // W W  W X
-
-		A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
-		B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
-
-		A3 = vcombine_f32(vQ1zx, vQ1yz);  // Z X Y Z
-		B3 = vcombine_f32(vQ2yz, vQ2xz);  // Y Z x z
-
-		A1 = vmulq_f32(A1, B1);
-		A2 = vmulq_f32(A2, B2);
-		A3 = vmulq_f32(A3, B3);                           //	A3 *= B3
-		A0 = vmulq_lane_f32(vQ2, vget_high_f32(vQ1), 1);  //	A0 * B0
-
-		A1 = vaddq_f32(A1, A2);  //	AB12 = AB1 + AB2
-		A0 = vsubq_f32(A0, A3);  //	AB03 = AB0 - AB3
-
-		//	change the sign of the last element
-		A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);
-		A0 = vaddq_f32(A0, A1);  //	AB03 + AB12
-
-		mVec128 = A0;
-#else
-		setValue(
-			m_floats[3] * q.x() + m_floats[0] * q.m_floats[3] + m_floats[1] * q.z() - m_floats[2] * q.y(),
-			m_floats[3] * q.y() + m_floats[1] * q.m_floats[3] + m_floats[2] * q.x() - m_floats[0] * q.z(),
-			m_floats[3] * q.z() + m_floats[2] * q.m_floats[3] + m_floats[0] * q.y() - m_floats[1] * q.x(),
-			m_floats[3] * q.m_floats[3] - m_floats[0] * q.x() - m_floats[1] * q.y() - m_floats[2] * q.z());
-#endif
-		return *this;
-	}
-	/**@brief Return the dot product between this quaternion and another
-   * @param q The other quaternion */
-	btScalar dot(const btQuaternion& q) const
-	{
-#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		__m128 vd;
-
-		vd = _mm_mul_ps(mVec128, q.mVec128);
-
-		__m128 t = _mm_movehl_ps(vd, vd);
-		vd = _mm_add_ps(vd, t);
-		t = _mm_shuffle_ps(vd, vd, 0x55);
-		vd = _mm_add_ss(vd, t);
-
-		return _mm_cvtss_f32(vd);
-#elif defined(BT_USE_NEON)
-		float32x4_t vd = vmulq_f32(mVec128, q.mVec128);
-		float32x2_t x = vpadd_f32(vget_low_f32(vd), vget_high_f32(vd));
-		x = vpadd_f32(x, x);
-		return vget_lane_f32(x, 0);
-#else
-		return m_floats[0] * q.x() +
-			   m_floats[1] * q.y() +
-			   m_floats[2] * q.z() +
-			   m_floats[3] * q.m_floats[3];
-#endif
-	}
-
-	/**@brief Return the length squared of the quaternion */
-	btScalar length2() const
-	{
-		return dot(*this);
-	}
-
-	/**@brief Return the length of the quaternion */
-	btScalar length() const
-	{
-		return btSqrt(length2());
-	}
-	btQuaternion& safeNormalize()
-	{
-		btScalar l2 = length2();
-		if (l2 > SIMD_EPSILON)
-		{
-			normalize();
-		}
-		return *this;
-	}
-	/**@brief Normalize the quaternion 
-   * Such that x^2 + y^2 + z^2 +w^2 = 1 */
-	btQuaternion& normalize()
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		__m128 vd;
-
-		vd = _mm_mul_ps(mVec128, mVec128);
-
-		__m128 t = _mm_movehl_ps(vd, vd);
-		vd = _mm_add_ps(vd, t);
-		t = _mm_shuffle_ps(vd, vd, 0x55);
-		vd = _mm_add_ss(vd, t);
-
-		vd = _mm_sqrt_ss(vd);
-		vd = _mm_div_ss(vOnes, vd);
-		vd = bt_pshufd_ps(vd, 0);  // splat
-		mVec128 = _mm_mul_ps(mVec128, vd);
-
-		return *this;
-#else
-		return *this /= length();
-#endif
-	}
-
-	/**@brief Return a scaled version of this quaternion
-   * @param s The scale factor */
-	SIMD_FORCE_INLINE btQuaternion
-	operator*(const btScalar& s) const
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		__m128 vs = _mm_load_ss(&s);  //	(S 0 0 0)
-		vs = bt_pshufd_ps(vs, 0x00);  //	(S S S S)
-
-		return btQuaternion(_mm_mul_ps(mVec128, vs));
-#elif defined(BT_USE_NEON)
-		return btQuaternion(vmulq_n_f32(mVec128, s));
-#else
-		return btQuaternion(x() * s, y() * s, z() * s, m_floats[3] * s);
-#endif
-	}
-
-	/**@brief Return an inversely scaled versionof this quaternion
-   * @param s The inverse scale factor */
-	btQuaternion operator/(const btScalar& s) const
-	{
-		btAssert(s != btScalar(0.0));
-		return *this * (btScalar(1.0) / s);
-	}
-
-	/**@brief Inversely scale this quaternion
-   * @param s The scale factor */
-	btQuaternion& operator/=(const btScalar& s)
-	{
-		btAssert(s != btScalar(0.0));
-		return *this *= btScalar(1.0) / s;
-	}
-
-	/**@brief Return a normalized version of this quaternion */
-	btQuaternion normalized() const
-	{
-		return *this / length();
-	}
-	/**@brief Return the ***half*** angle between this quaternion and the other
-   * @param q The other quaternion */
-	btScalar angle(const btQuaternion& q) const
-	{
-		btScalar s = btSqrt(length2() * q.length2());
-		btAssert(s != btScalar(0.0));
-		return btAcos(dot(q) / s);
-	}
-
-	/**@brief Return the angle between this quaternion and the other along the shortest path
-	* @param q The other quaternion */
-	btScalar angleShortestPath(const btQuaternion& q) const
-	{
-		btScalar s = btSqrt(length2() * q.length2());
-		btAssert(s != btScalar(0.0));
-		if (dot(q) < 0)  // Take care of long angle case see http://en.wikipedia.org/wiki/Slerp
-			return btAcos(dot(-q) / s) * btScalar(2.0);
-		else
-			return btAcos(dot(q) / s) * btScalar(2.0);
-	}
-
-	/**@brief Return the angle [0, 2Pi] of rotation represented by this quaternion */
-	btScalar getAngle() const
-	{
-		btScalar s = btScalar(2.) * btAcos(m_floats[3]);
-		return s;
-	}
-
-	/**@brief Return the angle [0, Pi] of rotation represented by this quaternion along the shortest path */
-	btScalar getAngleShortestPath() const
-	{
-		btScalar s;
-		if (m_floats[3] >= 0)
-			s = btScalar(2.) * btAcos(m_floats[3]);
-		else
-			s = btScalar(2.) * btAcos(-m_floats[3]);
-		return s;
-	}
-
-	/**@brief Return the axis of the rotation represented by this quaternion */
-	btVector3 getAxis() const
-	{
-		btScalar s_squared = 1.f - m_floats[3] * m_floats[3];
-
-		if (s_squared < btScalar(10.) * SIMD_EPSILON)  //Check for divide by zero
-			return btVector3(1.0, 0.0, 0.0);           // Arbitrary
-		btScalar s = 1.f / btSqrt(s_squared);
-		return btVector3(m_floats[0] * s, m_floats[1] * s, m_floats[2] * s);
-	}
-
-	/**@brief Return the inverse of this quaternion */
-	btQuaternion inverse() const
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		return btQuaternion(_mm_xor_ps(mVec128, vQInv));
-#elif defined(BT_USE_NEON)
-		return btQuaternion((btSimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)vQInv));
-#else
-		return btQuaternion(-m_floats[0], -m_floats[1], -m_floats[2], m_floats[3]);
-#endif
-	}
-
-	/**@brief Return the sum of this quaternion and the other 
-   * @param q2 The other quaternion */
-	SIMD_FORCE_INLINE btQuaternion
-	operator+(const btQuaternion& q2) const
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		return btQuaternion(_mm_add_ps(mVec128, q2.mVec128));
-#elif defined(BT_USE_NEON)
-		return btQuaternion(vaddq_f32(mVec128, q2.mVec128));
-#else
-		const btQuaternion& q1 = *this;
-		return btQuaternion(q1.x() + q2.x(), q1.y() + q2.y(), q1.z() + q2.z(), q1.m_floats[3] + q2.m_floats[3]);
-#endif
-	}
-
-	/**@brief Return the difference between this quaternion and the other 
-   * @param q2 The other quaternion */
-	SIMD_FORCE_INLINE btQuaternion
-	operator-(const btQuaternion& q2) const
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		return btQuaternion(_mm_sub_ps(mVec128, q2.mVec128));
-#elif defined(BT_USE_NEON)
-		return btQuaternion(vsubq_f32(mVec128, q2.mVec128));
-#else
-		const btQuaternion& q1 = *this;
-		return btQuaternion(q1.x() - q2.x(), q1.y() - q2.y(), q1.z() - q2.z(), q1.m_floats[3] - q2.m_floats[3]);
-#endif
-	}
-
-	/**@brief Return the negative of this quaternion 
-   * This simply negates each element */
-	SIMD_FORCE_INLINE btQuaternion operator-() const
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		return btQuaternion(_mm_xor_ps(mVec128, btvMzeroMask));
-#elif defined(BT_USE_NEON)
-		return btQuaternion((btSimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)btvMzeroMask));
-#else
-		const btQuaternion& q2 = *this;
-		return btQuaternion(-q2.x(), -q2.y(), -q2.z(), -q2.m_floats[3]);
-#endif
-	}
-	/**@todo document this and it's use */
-	SIMD_FORCE_INLINE btQuaternion farthest(const btQuaternion& qd) const
-	{
-		btQuaternion diff, sum;
-		diff = *this - qd;
-		sum = *this + qd;
-		if (diff.dot(diff) > sum.dot(sum))
-			return qd;
-		return (-qd);
-	}
-
-	/**@todo document this and it's use */
-	SIMD_FORCE_INLINE btQuaternion nearest(const btQuaternion& qd) const
-	{
-		btQuaternion diff, sum;
-		diff = *this - qd;
-		sum = *this + qd;
-		if (diff.dot(diff) < sum.dot(sum))
-			return qd;
-		return (-qd);
-	}
-
-	/**@brief Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion
-   * @param q The other quaternion to interpolate with 
-   * @param t The ratio between this and q to interpolate.  If t = 0 the result is this, if t=1 the result is q.
-   * Slerp interpolates assuming constant velocity.  */
-	btQuaternion slerp(const btQuaternion& q, const btScalar& t) const
-	{
-		const btScalar magnitude = btSqrt(length2() * q.length2());
-		btAssert(magnitude > btScalar(0));
-
-		const btScalar product = dot(q) / magnitude;
-		const btScalar absproduct = btFabs(product);
-
-		if (absproduct < btScalar(1.0 - SIMD_EPSILON))
-		{
-			// Take care of long angle case see http://en.wikipedia.org/wiki/Slerp
-			const btScalar theta = btAcos(absproduct);
-			const btScalar d = btSin(theta);
-			btAssert(d > btScalar(0));
-
-			const btScalar sign = (product < 0) ? btScalar(-1) : btScalar(1);
-			const btScalar s0 = btSin((btScalar(1.0) - t) * theta) / d;
-			const btScalar s1 = btSin(sign * t * theta) / d;
-
-			return btQuaternion(
-				(m_floats[0] * s0 + q.x() * s1),
-				(m_floats[1] * s0 + q.y() * s1),
-				(m_floats[2] * s0 + q.z() * s1),
-				(m_floats[3] * s0 + q.w() * s1));
-		}
-		else
-		{
-			return *this;
-		}
-	}
-
-	static const btQuaternion& getIdentity()
-	{
-		static const btQuaternion identityQuat(btScalar(0.), btScalar(0.), btScalar(0.), btScalar(1.));
-		return identityQuat;
-	}
-
-	SIMD_FORCE_INLINE const btScalar& getW() const { return m_floats[3]; }
-
-	SIMD_FORCE_INLINE void serialize(struct btQuaternionData& dataOut) const;
-
-	SIMD_FORCE_INLINE void deSerialize(const struct btQuaternionFloatData& dataIn);
-
-	SIMD_FORCE_INLINE void deSerialize(const struct btQuaternionDoubleData& dataIn);
-
-	SIMD_FORCE_INLINE void serializeFloat(struct btQuaternionFloatData& dataOut) const;
-
-	SIMD_FORCE_INLINE void deSerializeFloat(const struct btQuaternionFloatData& dataIn);
-
-	SIMD_FORCE_INLINE void serializeDouble(struct btQuaternionDoubleData& dataOut) const;
-
-	SIMD_FORCE_INLINE void deSerializeDouble(const struct btQuaternionDoubleData& dataIn);
-};
-
-/**@brief Return the product of two quaternions */
-SIMD_FORCE_INLINE btQuaternion
-operator*(const btQuaternion& q1, const btQuaternion& q2)
-{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-	__m128 vQ1 = q1.get128();
-	__m128 vQ2 = q2.get128();
-	__m128 A0, A1, B1, A2, B2;
-
-	A1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(0, 1, 2, 0));  // X Y  z x     //      vtrn
-	B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(3, 3, 3, 0));  // W W  W X     // vdup vext
-
-	A1 = A1 * B1;
-
-	A2 = bt_pshufd_ps(vQ1, BT_SHUFFLE(1, 2, 0, 1));  // Y Z  X Y     // vext
-	B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2, 0, 1, 1));  // z x  Y Y     // vtrn vdup
-
-	A2 = A2 * B2;
-
-	B1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(2, 0, 1, 2));  // z x Y Z      // vtrn vext
-	B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1, 2, 0, 2));  // Y Z x z      // vext vtrn
-
-	B1 = B1 * B2;  //	A3 *= B3
-
-	A0 = bt_splat_ps(vQ1, 3);  //	A0
-	A0 = A0 * vQ2;             //	A0 * B0
-
-	A1 = A1 + A2;  //	AB12
-	A0 = A0 - B1;  //	AB03 = AB0 - AB3
-
-	A1 = _mm_xor_ps(A1, vPPPM);  //	change sign of the last element
-	A0 = A0 + A1;                //	AB03 + AB12
-
-	return btQuaternion(A0);
-
-#elif defined(BT_USE_NEON)
-
-	float32x4_t vQ1 = q1.get128();
-	float32x4_t vQ2 = q2.get128();
-	float32x4_t A0, A1, B1, A2, B2, A3, B3;
-	float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz;
-
-	{
-		float32x2x2_t tmp;
-		tmp = vtrn_f32(vget_high_f32(vQ1), vget_low_f32(vQ1));  // {z x}, {w y}
-		vQ1zx = tmp.val[0];
-
-		tmp = vtrn_f32(vget_high_f32(vQ2), vget_low_f32(vQ2));  // {z x}, {w y}
-		vQ2zx = tmp.val[0];
-	}
-	vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1);
-
-	vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
-
-	vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
-	vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
-
-	A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx);                     // X Y  z x
-	B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx);  // W W  W X
-
-	A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
-	B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
-
-	A3 = vcombine_f32(vQ1zx, vQ1yz);  // Z X Y Z
-	B3 = vcombine_f32(vQ2yz, vQ2xz);  // Y Z x z
-
-	A1 = vmulq_f32(A1, B1);
-	A2 = vmulq_f32(A2, B2);
-	A3 = vmulq_f32(A3, B3);                           //	A3 *= B3
-	A0 = vmulq_lane_f32(vQ2, vget_high_f32(vQ1), 1);  //	A0 * B0
-
-	A1 = vaddq_f32(A1, A2);  //	AB12 = AB1 + AB2
-	A0 = vsubq_f32(A0, A3);  //	AB03 = AB0 - AB3
-
-	//	change the sign of the last element
-	A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);
-	A0 = vaddq_f32(A0, A1);  //	AB03 + AB12
-
-	return btQuaternion(A0);
-
-#else
-	return btQuaternion(
-		q1.w() * q2.x() + q1.x() * q2.w() + q1.y() * q2.z() - q1.z() * q2.y(),
-		q1.w() * q2.y() + q1.y() * q2.w() + q1.z() * q2.x() - q1.x() * q2.z(),
-		q1.w() * q2.z() + q1.z() * q2.w() + q1.x() * q2.y() - q1.y() * q2.x(),
-		q1.w() * q2.w() - q1.x() * q2.x() - q1.y() * q2.y() - q1.z() * q2.z());
-#endif
-}
-
-SIMD_FORCE_INLINE btQuaternion
-operator*(const btQuaternion& q, const btVector3& w)
-{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-	__m128 vQ1 = q.get128();
-	__m128 vQ2 = w.get128();
-	__m128 A1, B1, A2, B2, A3, B3;
-
-	A1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(3, 3, 3, 0));
-	B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(0, 1, 2, 0));
-
-	A1 = A1 * B1;
-
-	A2 = bt_pshufd_ps(vQ1, BT_SHUFFLE(1, 2, 0, 1));
-	B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2, 0, 1, 1));
-
-	A2 = A2 * B2;
-
-	A3 = bt_pshufd_ps(vQ1, BT_SHUFFLE(2, 0, 1, 2));
-	B3 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1, 2, 0, 2));
-
-	A3 = A3 * B3;  //	A3 *= B3
-
-	A1 = A1 + A2;                //	AB12
-	A1 = _mm_xor_ps(A1, vPPPM);  //	change sign of the last element
-	A1 = A1 - A3;                //	AB123 = AB12 - AB3
-
-	return btQuaternion(A1);
-
-#elif defined(BT_USE_NEON)
-
-	float32x4_t vQ1 = q.get128();
-	float32x4_t vQ2 = w.get128();
-	float32x4_t A1, B1, A2, B2, A3, B3;
-	float32x2_t vQ1wx, vQ2zx, vQ1yz, vQ2yz, vQ1zx, vQ2xz;
-
-	vQ1wx = vext_f32(vget_high_f32(vQ1), vget_low_f32(vQ1), 1);
-	{
-		float32x2x2_t tmp;
-
-		tmp = vtrn_f32(vget_high_f32(vQ2), vget_low_f32(vQ2));  // {z x}, {w y}
-		vQ2zx = tmp.val[0];
-
-		tmp = vtrn_f32(vget_high_f32(vQ1), vget_low_f32(vQ1));  // {z x}, {w y}
-		vQ1zx = tmp.val[0];
-	}
-
-	vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
-
-	vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
-	vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
-
-	A1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ1), 1), vQ1wx);  // W W  W X
-	B1 = vcombine_f32(vget_low_f32(vQ2), vQ2zx);                     // X Y  z x
-
-	A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
-	B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
-
-	A3 = vcombine_f32(vQ1zx, vQ1yz);  // Z X Y Z
-	B3 = vcombine_f32(vQ2yz, vQ2xz);  // Y Z x z
-
-	A1 = vmulq_f32(A1, B1);
-	A2 = vmulq_f32(A2, B2);
-	A3 = vmulq_f32(A3, B3);  //	A3 *= B3
-
-	A1 = vaddq_f32(A1, A2);  //	AB12 = AB1 + AB2
-
-	//	change the sign of the last element
-	A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);
-
-	A1 = vsubq_f32(A1, A3);  //	AB123 = AB12 - AB3
-
-	return btQuaternion(A1);
-
-#else
-	return btQuaternion(
-		q.w() * w.x() + q.y() * w.z() - q.z() * w.y(),
-		q.w() * w.y() + q.z() * w.x() - q.x() * w.z(),
-		q.w() * w.z() + q.x() * w.y() - q.y() * w.x(),
-		-q.x() * w.x() - q.y() * w.y() - q.z() * w.z());
-#endif
-}
-
-SIMD_FORCE_INLINE btQuaternion
-operator*(const btVector3& w, const btQuaternion& q)
-{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-	__m128 vQ1 = w.get128();
-	__m128 vQ2 = q.get128();
-	__m128 A1, B1, A2, B2, A3, B3;
-
-	A1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(0, 1, 2, 0));  // X Y  z x
-	B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(3, 3, 3, 0));  // W W  W X
-
-	A1 = A1 * B1;
-
-	A2 = bt_pshufd_ps(vQ1, BT_SHUFFLE(1, 2, 0, 1));
-	B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2, 0, 1, 1));
-
-	A2 = A2 * B2;
-
-	A3 = bt_pshufd_ps(vQ1, BT_SHUFFLE(2, 0, 1, 2));
-	B3 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1, 2, 0, 2));
-
-	A3 = A3 * B3;  //	A3 *= B3
-
-	A1 = A1 + A2;                //	AB12
-	A1 = _mm_xor_ps(A1, vPPPM);  //	change sign of the last element
-	A1 = A1 - A3;                //	AB123 = AB12 - AB3
-
-	return btQuaternion(A1);
-
-#elif defined(BT_USE_NEON)
-
-	float32x4_t vQ1 = w.get128();
-	float32x4_t vQ2 = q.get128();
-	float32x4_t A1, B1, A2, B2, A3, B3;
-	float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz;
-
-	{
-		float32x2x2_t tmp;
-
-		tmp = vtrn_f32(vget_high_f32(vQ1), vget_low_f32(vQ1));  // {z x}, {w y}
-		vQ1zx = tmp.val[0];
-
-		tmp = vtrn_f32(vget_high_f32(vQ2), vget_low_f32(vQ2));  // {z x}, {w y}
-		vQ2zx = tmp.val[0];
-	}
-	vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1);
-
-	vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
-
-	vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
-	vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
-
-	A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx);                     // X Y  z x
-	B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx);  // W W  W X
-
-	A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
-	B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
-
-	A3 = vcombine_f32(vQ1zx, vQ1yz);  // Z X Y Z
-	B3 = vcombine_f32(vQ2yz, vQ2xz);  // Y Z x z
-
-	A1 = vmulq_f32(A1, B1);
-	A2 = vmulq_f32(A2, B2);
-	A3 = vmulq_f32(A3, B3);  //	A3 *= B3
-
-	A1 = vaddq_f32(A1, A2);  //	AB12 = AB1 + AB2
-
-	//	change the sign of the last element
-	A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);
-
-	A1 = vsubq_f32(A1, A3);  //	AB123 = AB12 - AB3
-
-	return btQuaternion(A1);
-
-#else
-	return btQuaternion(
-		+w.x() * q.w() + w.y() * q.z() - w.z() * q.y(),
-		+w.y() * q.w() + w.z() * q.x() - w.x() * q.z(),
-		+w.z() * q.w() + w.x() * q.y() - w.y() * q.x(),
-		-w.x() * q.x() - w.y() * q.y() - w.z() * q.z());
-#endif
-}
-
-/**@brief Calculate the dot product between two quaternions */
-SIMD_FORCE_INLINE btScalar
-dot(const btQuaternion& q1, const btQuaternion& q2)
-{
-	return q1.dot(q2);
-}
-
-/**@brief Return the length of a quaternion */
-SIMD_FORCE_INLINE btScalar
-length(const btQuaternion& q)
-{
-	return q.length();
-}
-
-/**@brief Return the angle between two quaternions*/
-SIMD_FORCE_INLINE btScalar
-btAngle(const btQuaternion& q1, const btQuaternion& q2)
-{
-	return q1.angle(q2);
-}
-
-/**@brief Return the inverse of a quaternion*/
-SIMD_FORCE_INLINE btQuaternion
-inverse(const btQuaternion& q)
-{
-	return q.inverse();
-}
-
-/**@brief Return the result of spherical linear interpolation betwen two quaternions 
- * @param q1 The first quaternion
- * @param q2 The second quaternion 
- * @param t The ration between q1 and q2.  t = 0 return q1, t=1 returns q2 
- * Slerp assumes constant velocity between positions. */
-SIMD_FORCE_INLINE btQuaternion
-slerp(const btQuaternion& q1, const btQuaternion& q2, const btScalar& t)
-{
-	return q1.slerp(q2, t);
-}
-
-SIMD_FORCE_INLINE btVector3
-quatRotate(const btQuaternion& rotation, const btVector3& v)
-{
-	btQuaternion q = rotation * v;
-	q *= rotation.inverse();
-#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-	return btVector3(_mm_and_ps(q.get128(), btvFFF0fMask));
-#elif defined(BT_USE_NEON)
-	return btVector3((float32x4_t)vandq_s32((int32x4_t)q.get128(), btvFFF0Mask));
-#else
-	return btVector3(q.getX(), q.getY(), q.getZ());
-#endif
-}
-
-SIMD_FORCE_INLINE btQuaternion
-shortestArcQuat(const btVector3& v0, const btVector3& v1)  // Game Programming Gems 2.10. make sure v0,v1 are normalized
-{
-	btVector3 c = v0.cross(v1);
-	btScalar d = v0.dot(v1);
-
-	if (d < -1.0 + SIMD_EPSILON)
-	{
-		btVector3 n, unused;
-		btPlaneSpace1(v0, n, unused);
-		return btQuaternion(n.x(), n.y(), n.z(), 0.0f);  // just pick any vector that is orthogonal to v0
-	}
-
-	btScalar s = btSqrt((1.0f + d) * 2.0f);
-	btScalar rs = 1.0f / s;
-
-	return btQuaternion(c.getX() * rs, c.getY() * rs, c.getZ() * rs, s * 0.5f);
-}
-
-SIMD_FORCE_INLINE btQuaternion
-shortestArcQuatNormalize2(btVector3& v0, btVector3& v1)
-{
-	v0.normalize();
-	v1.normalize();
-	return shortestArcQuat(v0, v1);
-}
-
-struct btQuaternionFloatData
-{
-	float m_floats[4];
-};
-
-struct btQuaternionDoubleData
-{
-	double m_floats[4];
-};
-
-SIMD_FORCE_INLINE void btQuaternion::serializeFloat(struct btQuaternionFloatData& dataOut) const
-{
-	///could also do a memcpy, check if it is worth it
-	for (int i = 0; i < 4; i++)
-		dataOut.m_floats[i] = float(m_floats[i]);
-}
-
-SIMD_FORCE_INLINE void btQuaternion::deSerializeFloat(const struct btQuaternionFloatData& dataIn)
-{
-	for (int i = 0; i < 4; i++)
-		m_floats[i] = btScalar(dataIn.m_floats[i]);
-}
-
-SIMD_FORCE_INLINE void btQuaternion::serializeDouble(struct btQuaternionDoubleData& dataOut) const
-{
-	///could also do a memcpy, check if it is worth it
-	for (int i = 0; i < 4; i++)
-		dataOut.m_floats[i] = double(m_floats[i]);
-}
-
-SIMD_FORCE_INLINE void btQuaternion::deSerializeDouble(const struct btQuaternionDoubleData& dataIn)
-{
-	for (int i = 0; i < 4; i++)
-		m_floats[i] = btScalar(dataIn.m_floats[i]);
-}
-
-SIMD_FORCE_INLINE void btQuaternion::serialize(struct btQuaternionData& dataOut) const
-{
-	///could also do a memcpy, check if it is worth it
-	for (int i = 0; i < 4; i++)
-		dataOut.m_floats[i] = m_floats[i];
-}
-
-SIMD_FORCE_INLINE void btQuaternion::deSerialize(const struct btQuaternionFloatData& dataIn)
-{
-	for (int i = 0; i < 4; i++)
-		m_floats[i] = (btScalar)dataIn.m_floats[i];
-}
-
-SIMD_FORCE_INLINE void btQuaternion::deSerialize(const struct btQuaternionDoubleData& dataIn)
-{
-	for (int i = 0; i < 4; i++)
-		m_floats[i] = (btScalar)dataIn.m_floats[i];
-}
-
-#endif  //BT_SIMD__QUATERNION_H_
diff --git a/thirdparty/bullet/LinearMath/btQuickprof.cpp b/thirdparty/bullet/LinearMath/btQuickprof.cpp
deleted file mode 100644
index 33b51eb763..0000000000
--- a/thirdparty/bullet/LinearMath/btQuickprof.cpp
+++ /dev/null
@@ -1,805 +0,0 @@
-/*
-
-***************************************************************************************************
-**
-** profile.cpp
-**
-** Real-Time Hierarchical Profiling for Game Programming Gems 3
-**
-** by Greg Hjelstrom & Byon Garrabrant
-**
-***************************************************************************************************/
-
-// Credits: The Clock class was inspired by the Timer classes in
-// Ogre (www.ogre3d.org).
-
-#include "btQuickprof.h"
-#include "btThreads.h"
-
-#ifdef __CELLOS_LV2__
-#include <sys/sys_time.h>
-#include <sys/time_util.h>
-#include <stdio.h>
-#endif
-
-#if defined(SUNOS) || defined(__SUNOS__)
-#include <stdio.h>
-#endif
-#ifdef __APPLE__
-#include <mach/mach_time.h>
-#include <TargetConditionals.h>
-#endif
-
-#if defined(WIN32) || defined(_WIN32)
-
-#define BT_USE_WINDOWS_TIMERS
-#define WIN32_LEAN_AND_MEAN
-#define NOWINRES
-#define NOMCX
-#define NOIME
-
-#ifdef _XBOX
-#include <Xtl.h>
-#else  //_XBOX
-#include <windows.h>
-
-#if WINVER < 0x0602
-#define GetTickCount64 GetTickCount
-#endif
-
-#endif  //_XBOX
-
-#include <time.h>
-
-#else  //_WIN32
-#include <sys/time.h>
-
-#ifdef BT_LINUX_REALTIME
-//required linking against rt (librt)
-#include <time.h>
-#endif  //BT_LINUX_REALTIME
-
-#endif  //_WIN32
-
-#define mymin(a, b) (a > b ? a : b)
-
-struct btClockData
-{
-#ifdef BT_USE_WINDOWS_TIMERS
-	LARGE_INTEGER mClockFrequency;
-	LONGLONG mStartTick;
-	LARGE_INTEGER mStartTime;
-#else
-#ifdef __CELLOS_LV2__
-	uint64_t mStartTime;
-#else
-#ifdef __APPLE__
-	uint64_t mStartTimeNano;
-#endif
-	struct timeval mStartTime;
-#endif
-#endif  //__CELLOS_LV2__
-};
-
-///The btClock is a portable basic clock that measures accurate time in seconds, use for profiling.
-btClock::btClock()
-{
-	m_data = new btClockData;
-#ifdef BT_USE_WINDOWS_TIMERS
-	QueryPerformanceFrequency(&m_data->mClockFrequency);
-#endif
-	reset();
-}
-
-btClock::~btClock()
-{
-	delete m_data;
-}
-
-btClock::btClock(const btClock& other)
-{
-	m_data = new btClockData;
-	*m_data = *other.m_data;
-}
-
-btClock& btClock::operator=(const btClock& other)
-{
-	*m_data = *other.m_data;
-	return *this;
-}
-
-/// Resets the initial reference time.
-void btClock::reset()
-{
-#ifdef BT_USE_WINDOWS_TIMERS
-	QueryPerformanceCounter(&m_data->mStartTime);
-	m_data->mStartTick = GetTickCount64();
-#else
-#ifdef __CELLOS_LV2__
-
-	typedef uint64_t ClockSize;
-	ClockSize newTime;
-	//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
-	SYS_TIMEBASE_GET(newTime);
-	m_data->mStartTime = newTime;
-#else
-#ifdef __APPLE__
-	m_data->mStartTimeNano = mach_absolute_time();
-#endif
-	gettimeofday(&m_data->mStartTime, 0);
-#endif
-#endif
-}
-
-/// Returns the time in ms since the last call to reset or since
-/// the btClock was created.
-unsigned long long int btClock::getTimeMilliseconds()
-{
-#ifdef BT_USE_WINDOWS_TIMERS
-	LARGE_INTEGER currentTime;
-	QueryPerformanceCounter(&currentTime);
-	LONGLONG elapsedTime = currentTime.QuadPart -
-						   m_data->mStartTime.QuadPart;
-	// Compute the number of millisecond ticks elapsed.
-	unsigned long msecTicks = (unsigned long)(1000 * elapsedTime /
-											  m_data->mClockFrequency.QuadPart);
-
-	return msecTicks;
-#else
-
-#ifdef __CELLOS_LV2__
-	uint64_t freq = sys_time_get_timebase_frequency();
-	double dFreq = ((double)freq) / 1000.0;
-	typedef uint64_t ClockSize;
-	ClockSize newTime;
-	SYS_TIMEBASE_GET(newTime);
-	//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
-
-	return (unsigned long int)((double(newTime - m_data->mStartTime)) / dFreq);
-#else
-
-	struct timeval currentTime;
-	gettimeofday(&currentTime, 0);
-	return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1000 +
-		   (currentTime.tv_usec - m_data->mStartTime.tv_usec) / 1000;
-#endif  //__CELLOS_LV2__
-#endif
-}
-
-/// Returns the time in us since the last call to reset or since
-/// the Clock was created.
-unsigned long long int btClock::getTimeMicroseconds()
-{
-#ifdef BT_USE_WINDOWS_TIMERS
-	//see https://msdn.microsoft.com/en-us/library/windows/desktop/dn553408(v=vs.85).aspx
-	LARGE_INTEGER currentTime, elapsedTime;
-
-	QueryPerformanceCounter(&currentTime);
-	elapsedTime.QuadPart = currentTime.QuadPart -
-						   m_data->mStartTime.QuadPart;
-	elapsedTime.QuadPart *= 1000000;
-	elapsedTime.QuadPart /= m_data->mClockFrequency.QuadPart;
-
-	return (unsigned long long)elapsedTime.QuadPart;
-#else
-
-#ifdef __CELLOS_LV2__
-	uint64_t freq = sys_time_get_timebase_frequency();
-	double dFreq = ((double)freq) / 1000000.0;
-	typedef uint64_t ClockSize;
-	ClockSize newTime;
-	//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
-	SYS_TIMEBASE_GET(newTime);
-
-	return (unsigned long int)((double(newTime - m_data->mStartTime)) / dFreq);
-#else
-
-	struct timeval currentTime;
-	gettimeofday(&currentTime, 0);
-	return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1000000 +
-		   (currentTime.tv_usec - m_data->mStartTime.tv_usec);
-#endif  //__CELLOS_LV2__
-#endif
-}
-
-unsigned long long int btClock::getTimeNanoseconds()
-{
-#ifdef BT_USE_WINDOWS_TIMERS
-	//see https://msdn.microsoft.com/en-us/library/windows/desktop/dn553408(v=vs.85).aspx
-	LARGE_INTEGER currentTime, elapsedTime;
-
-	QueryPerformanceCounter(&currentTime);
-	elapsedTime.QuadPart = currentTime.QuadPart -
-						   m_data->mStartTime.QuadPart;
-	elapsedTime.QuadPart *= 1000000000;
-	elapsedTime.QuadPart /= m_data->mClockFrequency.QuadPart;
-
-	return (unsigned long long)elapsedTime.QuadPart;
-#else
-
-#ifdef __CELLOS_LV2__
-	uint64_t freq = sys_time_get_timebase_frequency();
-	double dFreq = ((double)freq) / 1e9;
-	typedef uint64_t ClockSize;
-	ClockSize newTime;
-	//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
-	SYS_TIMEBASE_GET(newTime);
-
-	return (unsigned long int)((double(newTime - m_data->mStartTime)) / dFreq);
-#else
-#ifdef __APPLE__
-	uint64_t ticks = mach_absolute_time() - m_data->mStartTimeNano;
-	static long double conversion = 0.0L;
-	if (0.0L == conversion)
-	{
-		// attempt to get conversion to nanoseconds
-		mach_timebase_info_data_t info;
-		int err = mach_timebase_info(&info);
-		if (err)
-		{
-			btAssert(0);
-			conversion = 1.;
-		}
-		conversion = info.numer / info.denom;
-	}
-	return (ticks * conversion);
-
-#else  //__APPLE__
-
-#ifdef BT_LINUX_REALTIME
-	timespec ts;
-	clock_gettime(CLOCK_REALTIME, &ts);
-	return 1000000000 * ts.tv_sec + ts.tv_nsec;
-#else
-	struct timeval currentTime;
-	gettimeofday(&currentTime, 0);
-	return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1e9 +
-		   (currentTime.tv_usec - m_data->mStartTime.tv_usec) * 1000;
-#endif  //BT_LINUX_REALTIME
-
-#endif  //__APPLE__
-#endif  //__CELLOS_LV2__
-#endif
-}
-
-/// Returns the time in s since the last call to reset or since
-/// the Clock was created.
-btScalar btClock::getTimeSeconds()
-{
-	static const btScalar microseconds_to_seconds = btScalar(0.000001);
-	return btScalar(getTimeMicroseconds()) * microseconds_to_seconds;
-}
-
-#ifndef BT_NO_PROFILE
-
-static btClock gProfileClock;
-
-inline void Profile_Get_Ticks(unsigned long int* ticks)
-{
-	*ticks = (unsigned long int)gProfileClock.getTimeMicroseconds();
-}
-
-inline float Profile_Get_Tick_Rate(void)
-{
-	//	return 1000000.f;
-	return 1000.f;
-}
-
-/***************************************************************************************************
-**
-** CProfileNode
-**
-***************************************************************************************************/
-
-/***********************************************************************************************
- * INPUT:                                                                                      *
- * name - pointer to a static string which is the name of this profile node                    *
- * parent - parent pointer                                                                     *
- *                                                                                             *
- * WARNINGS:                                                                                   *
- * The name is assumed to be a static pointer, only the pointer is stored and compared for     *
- * efficiency reasons.                                                                         *
- *=============================================================================================*/
-CProfileNode::CProfileNode(const char* name, CProfileNode* parent) : Name(name),
-																	 TotalCalls(0),
-																	 TotalTime(0),
-																	 StartTime(0),
-																	 RecursionCounter(0),
-																	 Parent(parent),
-																	 Child(NULL),
-																	 Sibling(NULL),
-																	 m_userPtr(0)
-{
-	Reset();
-}
-
-void CProfileNode::CleanupMemory()
-{
-	delete (Child);
-	Child = NULL;
-	delete (Sibling);
-	Sibling = NULL;
-}
-
-CProfileNode::~CProfileNode(void)
-{
-	CleanupMemory();
-}
-
-/***********************************************************************************************
- * INPUT:                                                                                      *
- * name - static string pointer to the name of the node we are searching for                   *
- *                                                                                             *
- * WARNINGS:                                                                                   *
- * All profile names are assumed to be static strings so this function uses pointer compares   *
- * to find the named node.                                                                     *
- *=============================================================================================*/
-CProfileNode* CProfileNode::Get_Sub_Node(const char* name)
-{
-	// Try to find this sub node
-	CProfileNode* child = Child;
-	while (child)
-	{
-		if (child->Name == name)
-		{
-			return child;
-		}
-		child = child->Sibling;
-	}
-
-	// We didn't find it, so add it
-
-	CProfileNode* node = new CProfileNode(name, this);
-	node->Sibling = Child;
-	Child = node;
-	return node;
-}
-
-void CProfileNode::Reset(void)
-{
-	TotalCalls = 0;
-	TotalTime = 0.0f;
-
-	if (Child)
-	{
-		Child->Reset();
-	}
-	if (Sibling)
-	{
-		Sibling->Reset();
-	}
-}
-
-void CProfileNode::Call(void)
-{
-	TotalCalls++;
-	if (RecursionCounter++ == 0)
-	{
-		Profile_Get_Ticks(&StartTime);
-	}
-}
-
-bool CProfileNode::Return(void)
-{
-	if (--RecursionCounter == 0 && TotalCalls != 0)
-	{
-		unsigned long int time;
-		Profile_Get_Ticks(&time);
-
-		time -= StartTime;
-		TotalTime += (float)time / Profile_Get_Tick_Rate();
-	}
-	return (RecursionCounter == 0);
-}
-
-/***************************************************************************************************
-**
-** CProfileIterator
-**
-***************************************************************************************************/
-CProfileIterator::CProfileIterator(CProfileNode* start)
-{
-	CurrentParent = start;
-	CurrentChild = CurrentParent->Get_Child();
-}
-
-void CProfileIterator::First(void)
-{
-	CurrentChild = CurrentParent->Get_Child();
-}
-
-void CProfileIterator::Next(void)
-{
-	CurrentChild = CurrentChild->Get_Sibling();
-}
-
-bool CProfileIterator::Is_Done(void)
-{
-	return CurrentChild == NULL;
-}
-
-void CProfileIterator::Enter_Child(int index)
-{
-	CurrentChild = CurrentParent->Get_Child();
-	while ((CurrentChild != NULL) && (index != 0))
-	{
-		index--;
-		CurrentChild = CurrentChild->Get_Sibling();
-	}
-
-	if (CurrentChild != NULL)
-	{
-		CurrentParent = CurrentChild;
-		CurrentChild = CurrentParent->Get_Child();
-	}
-}
-
-void CProfileIterator::Enter_Parent(void)
-{
-	if (CurrentParent->Get_Parent() != NULL)
-	{
-		CurrentParent = CurrentParent->Get_Parent();
-	}
-	CurrentChild = CurrentParent->Get_Child();
-}
-
-/***************************************************************************************************
-**
-** CProfileManager
-**
-***************************************************************************************************/
-
-CProfileNode gRoots[BT_QUICKPROF_MAX_THREAD_COUNT] = {
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
-	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL)};
-
-CProfileNode* gCurrentNodes[BT_QUICKPROF_MAX_THREAD_COUNT] =
-	{
-		&gRoots[0],
-		&gRoots[1],
-		&gRoots[2],
-		&gRoots[3],
-		&gRoots[4],
-		&gRoots[5],
-		&gRoots[6],
-		&gRoots[7],
-		&gRoots[8],
-		&gRoots[9],
-		&gRoots[10],
-		&gRoots[11],
-		&gRoots[12],
-		&gRoots[13],
-		&gRoots[14],
-		&gRoots[15],
-		&gRoots[16],
-		&gRoots[17],
-		&gRoots[18],
-		&gRoots[19],
-		&gRoots[20],
-		&gRoots[21],
-		&gRoots[22],
-		&gRoots[23],
-		&gRoots[24],
-		&gRoots[25],
-		&gRoots[26],
-		&gRoots[27],
-		&gRoots[28],
-		&gRoots[29],
-		&gRoots[30],
-		&gRoots[31],
-		&gRoots[32],
-		&gRoots[33],
-		&gRoots[34],
-		&gRoots[35],
-		&gRoots[36],
-		&gRoots[37],
-		&gRoots[38],
-		&gRoots[39],
-		&gRoots[40],
-		&gRoots[41],
-		&gRoots[42],
-		&gRoots[43],
-		&gRoots[44],
-		&gRoots[45],
-		&gRoots[46],
-		&gRoots[47],
-		&gRoots[48],
-		&gRoots[49],
-		&gRoots[50],
-		&gRoots[51],
-		&gRoots[52],
-		&gRoots[53],
-		&gRoots[54],
-		&gRoots[55],
-		&gRoots[56],
-		&gRoots[57],
-		&gRoots[58],
-		&gRoots[59],
-		&gRoots[60],
-		&gRoots[61],
-		&gRoots[62],
-		&gRoots[63],
-};
-
-int CProfileManager::FrameCounter = 0;
-unsigned long int CProfileManager::ResetTime = 0;
-
-CProfileIterator* CProfileManager::Get_Iterator(void)
-{
-	int threadIndex = btQuickprofGetCurrentThreadIndex2();
-	if ((threadIndex < 0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
-		return 0;
-
-	return new CProfileIterator(&gRoots[threadIndex]);
-}
-
-void CProfileManager::CleanupMemory(void)
-{
-	for (int i = 0; i < BT_QUICKPROF_MAX_THREAD_COUNT; i++)
-	{
-		gRoots[i].CleanupMemory();
-	}
-}
-
-/***********************************************************************************************
- * CProfileManager::Start_Profile -- Begin a named profile                                    *
- *                                                                                             *
- * Steps one level deeper into the tree, if a child already exists with the specified name     *
- * then it accumulates the profiling; otherwise a new child node is added to the profile tree. *
- *                                                                                             *
- * INPUT:                                                                                      *
- * name - name of this profiling record                                                        *
- *                                                                                             *
- * WARNINGS:                                                                                   *
- * The string used is assumed to be a static string; pointer compares are used throughout      *
- * the profiling code for efficiency.                                                          *
- *=============================================================================================*/
-void CProfileManager::Start_Profile(const char* name)
-{
-	int threadIndex = btQuickprofGetCurrentThreadIndex2();
-	if ((threadIndex < 0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
-		return;
-
-	if (name != gCurrentNodes[threadIndex]->Get_Name())
-	{
-		gCurrentNodes[threadIndex] = gCurrentNodes[threadIndex]->Get_Sub_Node(name);
-	}
-
-	gCurrentNodes[threadIndex]->Call();
-}
-
-/***********************************************************************************************
- * CProfileManager::Stop_Profile -- Stop timing and record the results.                       *
- *=============================================================================================*/
-void CProfileManager::Stop_Profile(void)
-{
-	int threadIndex = btQuickprofGetCurrentThreadIndex2();
-	if ((threadIndex < 0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
-		return;
-
-	// Return will indicate whether we should back up to our parent (we may
-	// be profiling a recursive function)
-	if (gCurrentNodes[threadIndex]->Return())
-	{
-		gCurrentNodes[threadIndex] = gCurrentNodes[threadIndex]->Get_Parent();
-	}
-}
-
-/***********************************************************************************************
- * CProfileManager::Reset -- Reset the contents of the profiling system                       *
- *                                                                                             *
- *    This resets everything except for the tree structure.  All of the timing data is reset.  *
- *=============================================================================================*/
-void CProfileManager::Reset(void)
-{
-	gProfileClock.reset();
-	int threadIndex = btQuickprofGetCurrentThreadIndex2();
-	if ((threadIndex < 0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
-		return;
-	gRoots[threadIndex].Reset();
-	gRoots[threadIndex].Call();
-	FrameCounter = 0;
-	Profile_Get_Ticks(&ResetTime);
-}
-
-/***********************************************************************************************
- * CProfileManager::Increment_Frame_Counter -- Increment the frame counter                    *
- *=============================================================================================*/
-void CProfileManager::Increment_Frame_Counter(void)
-{
-	FrameCounter++;
-}
-
-/***********************************************************************************************
- * CProfileManager::Get_Time_Since_Reset -- returns the elapsed time since last reset         *
- *=============================================================================================*/
-float CProfileManager::Get_Time_Since_Reset(void)
-{
-	unsigned long int time;
-	Profile_Get_Ticks(&time);
-	time -= ResetTime;
-	return (float)time / Profile_Get_Tick_Rate();
-}
-
-#include <stdio.h>
-
-void CProfileManager::dumpRecursive(CProfileIterator* profileIterator, int spacing)
-{
-	profileIterator->First();
-	if (profileIterator->Is_Done())
-		return;
-
-	float accumulated_time = 0, parent_time = profileIterator->Is_Root() ? CProfileManager::Get_Time_Since_Reset() : profileIterator->Get_Current_Parent_Total_Time();
-	int i;
-	int frames_since_reset = CProfileManager::Get_Frame_Count_Since_Reset();
-	for (i = 0; i < spacing; i++) printf(".");
-	printf("----------------------------------\n");
-	for (i = 0; i < spacing; i++) printf(".");
-	printf("Profiling: %s (total running time: %.3f ms) ---\n", profileIterator->Get_Current_Parent_Name(), parent_time);
-	float totalTime = 0.f;
-
-	int numChildren = 0;
-
-	for (i = 0; !profileIterator->Is_Done(); i++, profileIterator->Next())
-	{
-		numChildren++;
-		float current_total_time = profileIterator->Get_Current_Total_Time();
-		accumulated_time += current_total_time;
-		float fraction = parent_time > SIMD_EPSILON ? (current_total_time / parent_time) * 100 : 0.f;
-		{
-			int i;
-			for (i = 0; i < spacing; i++) printf(".");
-		}
-		printf("%d -- %s (%.2f %%) :: %.3f ms / frame (%d calls)\n", i, profileIterator->Get_Current_Name(), fraction, (current_total_time / (double)frames_since_reset), profileIterator->Get_Current_Total_Calls());
-		totalTime += current_total_time;
-		//recurse into children
-	}
-
-	if (parent_time < accumulated_time)
-	{
-		//printf("what's wrong\n");
-	}
-	for (i = 0; i < spacing; i++) printf(".");
-	printf("%s (%.3f %%) :: %.3f ms\n", "Unaccounted:", parent_time > SIMD_EPSILON ? ((parent_time - accumulated_time) / parent_time) * 100 : 0.f, parent_time - accumulated_time);
-
-	for (i = 0; i < numChildren; i++)
-	{
-		profileIterator->Enter_Child(i);
-		dumpRecursive(profileIterator, spacing + 3);
-		profileIterator->Enter_Parent();
-	}
-}
-
-void CProfileManager::dumpAll()
-{
-	CProfileIterator* profileIterator = 0;
-	profileIterator = CProfileManager::Get_Iterator();
-
-	dumpRecursive(profileIterator, 0);
-
-	CProfileManager::Release_Iterator(profileIterator);
-}
-
-
-void btEnterProfileZoneDefault(const char* name)
-{
-}
-void btLeaveProfileZoneDefault()
-{
-}
-
-#else
-void btEnterProfileZoneDefault(const char* name)
-{
-}
-void btLeaveProfileZoneDefault()
-{
-}
-#endif  //BT_NO_PROFILE
-
-
-// clang-format off
-#if defined(_WIN32) && (defined(__MINGW32__) || defined(__MINGW64__))
-  #define BT_HAVE_TLS 1
-#elif __APPLE__ && !TARGET_OS_IPHONE
-  // TODO: Modern versions of iOS support TLS now with updated version checking.
-  #define BT_HAVE_TLS 1
-#elif __linux__
-  #define BT_HAVE_TLS 1
-#elif defined(__FreeBSD__) || defined(__NetBSD__)
-  // TODO: At the moment disabling purposely OpenBSD, albeit tls support exists but not fully functioning
-  #define BT_HAVE_TLS 1
-#endif
-
-// __thread is broken on Andorid clang until r12b. See
-// https://github.com/android-ndk/ndk/issues/8
-#if defined(__ANDROID__) && defined(__clang__)
-  #if __has_include(<android/ndk-version.h>)
-    #include <android/ndk-version.h>
-  #endif  // __has_include(<android/ndk-version.h>)
-  #if defined(__NDK_MAJOR__) && \
-    ((__NDK_MAJOR__ < 12) || ((__NDK_MAJOR__ == 12) && (__NDK_MINOR__ < 1)))
-    #undef BT_HAVE_TLS
-  #endif
-#endif  // defined(__ANDROID__) && defined(__clang__)
-// clang-format on
-
-unsigned int btQuickprofGetCurrentThreadIndex2()
-{
-	const unsigned int kNullIndex = ~0U;
-
-#if BT_THREADSAFE
-	return btGetCurrentThreadIndex();
-#else
-#if defined(BT_HAVE_TLS)
-	static __thread unsigned int sThreadIndex = kNullIndex;
-#elif defined(_WIN32)
-	__declspec(thread) static unsigned int sThreadIndex = kNullIndex;
-#else
-	unsigned int sThreadIndex = 0;
-	return -1;
-#endif
-
-	static int gThreadCounter = 0;
-
-	if (sThreadIndex == kNullIndex)
-	{
-		sThreadIndex = gThreadCounter++;
-	}
-	return sThreadIndex;
-#endif  //BT_THREADSAFE
-}
-
-static btEnterProfileZoneFunc* bts_enterFunc = btEnterProfileZoneDefault;
-static btLeaveProfileZoneFunc* bts_leaveFunc = btLeaveProfileZoneDefault;
-
-void btEnterProfileZone(const char* name)
-{
-	(bts_enterFunc)(name);
-}
-void btLeaveProfileZone()
-{
-	(bts_leaveFunc)();
-}
-
-btEnterProfileZoneFunc* btGetCurrentEnterProfileZoneFunc()
-{
-	return bts_enterFunc;
-}
-btLeaveProfileZoneFunc* btGetCurrentLeaveProfileZoneFunc()
-{
-	return bts_leaveFunc;
-}
-
-void btSetCustomEnterProfileZoneFunc(btEnterProfileZoneFunc* enterFunc)
-{
-	bts_enterFunc = enterFunc;
-}
-void btSetCustomLeaveProfileZoneFunc(btLeaveProfileZoneFunc* leaveFunc)
-{
-	bts_leaveFunc = leaveFunc;
-}
-
-CProfileSample::CProfileSample(const char* name)
-{
-	btEnterProfileZone(name);
-}
-
-CProfileSample::~CProfileSample(void)
-{
-	btLeaveProfileZone();
-}
diff --git a/thirdparty/bullet/LinearMath/btQuickprof.h b/thirdparty/bullet/LinearMath/btQuickprof.h
deleted file mode 100644
index 990d401d50..0000000000
--- a/thirdparty/bullet/LinearMath/btQuickprof.h
+++ /dev/null
@@ -1,200 +0,0 @@
-
-/***************************************************************************************************
-**
-** Real-Time Hierarchical Profiling for Game Programming Gems 3
-**
-** by Greg Hjelstrom & Byon Garrabrant
-**
-***************************************************************************************************/
-
-// Credits: The Clock class was inspired by the Timer classes in
-// Ogre (www.ogre3d.org).
-
-#ifndef BT_QUICK_PROF_H
-#define BT_QUICK_PROF_H
-
-#include "btScalar.h"
-#define USE_BT_CLOCK 1
-
-#ifdef USE_BT_CLOCK
-
-///The btClock is a portable basic clock that measures accurate time in seconds, use for profiling.
-class btClock
-{
-public:
-	btClock();
-
-	btClock(const btClock& other);
-	btClock& operator=(const btClock& other);
-
-	~btClock();
-
-	/// Resets the initial reference time.
-	void reset();
-
-	/// Returns the time in ms since the last call to reset or since
-	/// the btClock was created.
-	unsigned long long int getTimeMilliseconds();
-
-	/// Returns the time in us since the last call to reset or since
-	/// the Clock was created.
-	unsigned long long int getTimeMicroseconds();
-
-	unsigned long long int getTimeNanoseconds();
-
-	/// Returns the time in s since the last call to reset or since
-	/// the Clock was created.
-	btScalar getTimeSeconds();
-
-private:
-	struct btClockData* m_data;
-};
-
-#endif  //USE_BT_CLOCK
-
-typedef void(btEnterProfileZoneFunc)(const char* msg);
-typedef void(btLeaveProfileZoneFunc)();
-
-btEnterProfileZoneFunc* btGetCurrentEnterProfileZoneFunc();
-btLeaveProfileZoneFunc* btGetCurrentLeaveProfileZoneFunc();
-
-void btSetCustomEnterProfileZoneFunc(btEnterProfileZoneFunc* enterFunc);
-void btSetCustomLeaveProfileZoneFunc(btLeaveProfileZoneFunc* leaveFunc);
-
-#ifndef BT_ENABLE_PROFILE
-#define BT_NO_PROFILE 1
-#endif  //BT_NO_PROFILE
-
-const unsigned int BT_QUICKPROF_MAX_THREAD_COUNT = 64;
-
-//btQuickprofGetCurrentThreadIndex will return -1 if thread index cannot be determined,
-//otherwise returns thread index in range [0..maxThreads]
-unsigned int btQuickprofGetCurrentThreadIndex2();
-
-#ifndef BT_NO_PROFILE
-
-
-#include <stdio.h>  //@todo remove this, backwards compatibility
-
-#include "btAlignedAllocator.h"
-#include <new>
-
-///A node in the Profile Hierarchy Tree
-class CProfileNode
-{
-public:
-	CProfileNode(const char* name, CProfileNode* parent);
-	~CProfileNode(void);
-
-	CProfileNode* Get_Sub_Node(const char* name);
-
-	CProfileNode* Get_Parent(void) { return Parent; }
-	CProfileNode* Get_Sibling(void) { return Sibling; }
-	CProfileNode* Get_Child(void) { return Child; }
-
-	void CleanupMemory();
-	void Reset(void);
-	void Call(void);
-	bool Return(void);
-
-	const char* Get_Name(void) { return Name; }
-	int Get_Total_Calls(void) { return TotalCalls; }
-	float Get_Total_Time(void) { return TotalTime; }
-	void* GetUserPointer() const { return m_userPtr; }
-	void SetUserPointer(void* ptr) { m_userPtr = ptr; }
-
-protected:
-	const char* Name;
-	int TotalCalls;
-	float TotalTime;
-	unsigned long int StartTime;
-	int RecursionCounter;
-
-	CProfileNode* Parent;
-	CProfileNode* Child;
-	CProfileNode* Sibling;
-	void* m_userPtr;
-};
-
-///An iterator to navigate through the tree
-class CProfileIterator
-{
-public:
-	// Access all the children of the current parent
-	void First(void);
-	void Next(void);
-	bool Is_Done(void);
-	bool Is_Root(void) { return (CurrentParent->Get_Parent() == 0); }
-
-	void Enter_Child(int index);     // Make the given child the new parent
-	void Enter_Largest_Child(void);  // Make the largest child the new parent
-	void Enter_Parent(void);         // Make the current parent's parent the new parent
-
-	// Access the current child
-	const char* Get_Current_Name(void) { return CurrentChild->Get_Name(); }
-	int Get_Current_Total_Calls(void) { return CurrentChild->Get_Total_Calls(); }
-	float Get_Current_Total_Time(void) { return CurrentChild->Get_Total_Time(); }
-
-	void* Get_Current_UserPointer(void) { return CurrentChild->GetUserPointer(); }
-	void Set_Current_UserPointer(void* ptr) { CurrentChild->SetUserPointer(ptr); }
-	// Access the current parent
-	const char* Get_Current_Parent_Name(void) { return CurrentParent->Get_Name(); }
-	int Get_Current_Parent_Total_Calls(void) { return CurrentParent->Get_Total_Calls(); }
-	float Get_Current_Parent_Total_Time(void) { return CurrentParent->Get_Total_Time(); }
-
-protected:
-	CProfileNode* CurrentParent;
-	CProfileNode* CurrentChild;
-
-	CProfileIterator(CProfileNode* start);
-	friend class CProfileManager;
-};
-
-///The Manager for the Profile system
-class CProfileManager
-{
-public:
-	static void Start_Profile(const char* name);
-	static void Stop_Profile(void);
-
-	static void CleanupMemory(void);
-	//	{
-	//		Root.CleanupMemory();
-	//	}
-
-	static void Reset(void);
-	static void Increment_Frame_Counter(void);
-	static int Get_Frame_Count_Since_Reset(void) { return FrameCounter; }
-	static float Get_Time_Since_Reset(void);
-
-	static CProfileIterator* Get_Iterator(void);
-	//	{
-	//
-	//		return new CProfileIterator( &Root );
-	//	}
-	static void Release_Iterator(CProfileIterator* iterator) { delete (iterator); }
-
-	static void dumpRecursive(CProfileIterator* profileIterator, int spacing);
-
-	static void dumpAll();
-
-private:
-	static int FrameCounter;
-	static unsigned long int ResetTime;
-};
-
-#endif  //#ifndef BT_NO_PROFILE
-
-///ProfileSampleClass is a simple way to profile a function's scope
-///Use the BT_PROFILE macro at the start of scope to time
-class CProfileSample
-{
-public:
-	CProfileSample(const char* name);
-
-	~CProfileSample(void);
-};
-
-#define BT_PROFILE(name) CProfileSample __profile(name)
-
-#endif  //BT_QUICK_PROF_H
diff --git a/thirdparty/bullet/LinearMath/btRandom.h b/thirdparty/bullet/LinearMath/btRandom.h
deleted file mode 100644
index e659af8605..0000000000
--- a/thirdparty/bullet/LinearMath/btRandom.h
+++ /dev/null
@@ -1,39 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_GEN_RANDOM_H
-#define BT_GEN_RANDOM_H
-
-#ifdef MT19937
-
-#include <limits.h>
-#include <mt19937.h>
-
-#define GEN_RAND_MAX UINT_MAX
-
-SIMD_FORCE_INLINE void GEN_srand(unsigned int seed) { init_genrand(seed); }
-SIMD_FORCE_INLINE unsigned int GEN_rand() { return genrand_int32(); }
-
-#else
-
-#include <stdlib.h>
-
-#define GEN_RAND_MAX RAND_MAX
-
-SIMD_FORCE_INLINE void GEN_srand(unsigned int seed) { srand(seed); }
-SIMD_FORCE_INLINE unsigned int GEN_rand() { return rand(); }
-
-#endif
-
-#endif  //BT_GEN_RANDOM_H
diff --git a/thirdparty/bullet/LinearMath/btReducedVector.cpp b/thirdparty/bullet/LinearMath/btReducedVector.cpp
deleted file mode 100644
index 1539584e7e..0000000000
--- a/thirdparty/bullet/LinearMath/btReducedVector.cpp
+++ /dev/null
@@ -1,170 +0,0 @@
-//
-//  btReducedVector.cpp
-//  LinearMath
-//
-//  Created by Xuchen Han on 4/4/20.
-//
-#include <stdio.h>
-#include "btReducedVector.h"
-#include <cmath>
-
-// returns the projection of this onto other
-btReducedVector btReducedVector::proj(const btReducedVector& other) const
-{
-    btReducedVector ret(m_sz);
-    btScalar other_length2 = other.length2();
-    if (other_length2 < SIMD_EPSILON)
-    {
-        return ret;
-    }
-    return other*(this->dot(other))/other_length2;
-}
-
-void btReducedVector::normalize()
-{
-    if (this->length2() < SIMD_EPSILON)
-    {
-        m_indices.clear();
-        m_vecs.clear();
-        return;
-    }
-    *this /= std::sqrt(this->length2());
-}
-
-bool btReducedVector::testAdd() const
-{
-    int sz = 5;
-    btAlignedObjectArray<int> id1;
-    id1.push_back(1);
-    id1.push_back(3);
-    btAlignedObjectArray<btVector3> v1;
-    v1.push_back(btVector3(1,0,1));
-    v1.push_back(btVector3(3,1,5));
-    btAlignedObjectArray<int> id2;
-    id2.push_back(2);
-    id2.push_back(3);
-    id2.push_back(5);
-    btAlignedObjectArray<btVector3> v2;
-    v2.push_back(btVector3(2,3,1));
-    v2.push_back(btVector3(3,4,9));
-    v2.push_back(btVector3(0,4,0));
-    btAlignedObjectArray<int> id3;
-    id3.push_back(1);
-    id3.push_back(2);
-    id3.push_back(3);
-    id3.push_back(5);
-    btAlignedObjectArray<btVector3> v3;
-    v3.push_back(btVector3(1,0,1));
-    v3.push_back(btVector3(2,3,1));
-    v3.push_back(btVector3(6,5,14));
-    v3.push_back(btVector3(0,4,0));
-    btReducedVector rv1(sz, id1, v1);
-    btReducedVector rv2(sz, id2, v2);
-    btReducedVector ans(sz, id3, v3);
-    bool ret = ((ans == rv1+rv2) && (ans == rv2+rv1));
-    if (!ret)
-        printf("btReducedVector testAdd failed\n");
-    return ret;
-}
-
-bool btReducedVector::testMinus() const
-{
-    int sz = 5;
-    btAlignedObjectArray<int> id1;
-    id1.push_back(1);
-    id1.push_back(3);
-    btAlignedObjectArray<btVector3> v1;
-    v1.push_back(btVector3(1,0,1));
-    v1.push_back(btVector3(3,1,5));
-    btAlignedObjectArray<int> id2;
-    id2.push_back(2);
-    id2.push_back(3);
-    id2.push_back(5);
-    btAlignedObjectArray<btVector3> v2;
-    v2.push_back(btVector3(2,3,1));
-    v2.push_back(btVector3(3,4,9));
-    v2.push_back(btVector3(0,4,0));
-    btAlignedObjectArray<int> id3;
-    id3.push_back(1);
-    id3.push_back(2);
-    id3.push_back(3);
-    id3.push_back(5);
-    btAlignedObjectArray<btVector3> v3;
-    v3.push_back(btVector3(-1,-0,-1));
-    v3.push_back(btVector3(2,3,1));
-    v3.push_back(btVector3(0,3,4));
-    v3.push_back(btVector3(0,4,0));
-    btReducedVector rv1(sz, id1, v1);
-    btReducedVector rv2(sz, id2, v2);
-    btReducedVector ans(sz, id3, v3);
-    bool ret = (ans == rv2-rv1);
-    if (!ret)
-        printf("btReducedVector testMinus failed\n");
-    return ret;
-}
-
-bool btReducedVector::testDot() const
-{
-    int sz = 5;
-    btAlignedObjectArray<int> id1;
-    id1.push_back(1);
-    id1.push_back(3);
-    btAlignedObjectArray<btVector3> v1;
-    v1.push_back(btVector3(1,0,1));
-    v1.push_back(btVector3(3,1,5));
-    btAlignedObjectArray<int> id2;
-    id2.push_back(2);
-    id2.push_back(3);
-    id2.push_back(5);
-    btAlignedObjectArray<btVector3> v2;
-    v2.push_back(btVector3(2,3,1));
-    v2.push_back(btVector3(3,4,9));
-    v2.push_back(btVector3(0,4,0));
-    btReducedVector rv1(sz, id1, v1);
-    btReducedVector rv2(sz, id2, v2);
-    btScalar ans = 58;
-    bool ret = (ans == rv2.dot(rv1) && ans == rv1.dot(rv2));
-    ans = 14+16+9+16+81;
-    ret &= (ans==rv2.dot(rv2));
-    
-    if (!ret)
-        printf("btReducedVector testDot failed\n");
-    return ret;
-}
-
-bool btReducedVector::testMultiply() const
-{
-    int sz = 5;
-    btAlignedObjectArray<int> id1;
-    id1.push_back(1);
-    id1.push_back(3);
-    btAlignedObjectArray<btVector3> v1;
-    v1.push_back(btVector3(1,0,1));
-    v1.push_back(btVector3(3,1,5));
-    btScalar s = 2;
-    btReducedVector rv1(sz, id1, v1);
-    btAlignedObjectArray<int> id2;
-    id2.push_back(1);
-    id2.push_back(3);
-    btAlignedObjectArray<btVector3> v2;
-    v2.push_back(btVector3(2,0,2));
-    v2.push_back(btVector3(6,2,10));
-    btReducedVector ans(sz, id2, v2);
-    bool ret = (ans == rv1*s);
-    if (!ret)
-        printf("btReducedVector testMultiply failed\n");
-    return ret;
-}
-
-void btReducedVector::test() const
-{
-    bool ans = testAdd() && testMinus() && testDot() && testMultiply();
-    if (ans)
-    {
-        printf("All tests passed\n");
-    }
-    else
-    {
-        printf("Tests failed\n");
-    }
-}
diff --git a/thirdparty/bullet/LinearMath/btReducedVector.h b/thirdparty/bullet/LinearMath/btReducedVector.h
deleted file mode 100644
index 313a4271f0..0000000000
--- a/thirdparty/bullet/LinearMath/btReducedVector.h
+++ /dev/null
@@ -1,320 +0,0 @@
-//
-//  btReducedVectors.h
-//  BulletLinearMath
-//
-//  Created by Xuchen Han on 4/4/20.
-//
-#ifndef btReducedVectors_h
-#define btReducedVectors_h
-#include "btVector3.h"
-#include "btMatrix3x3.h"
-#include "btAlignedObjectArray.h"
-#include <stdio.h>
-#include <vector>
-#include <algorithm>
-struct TwoInts
-{
-    int a,b;
-};
-inline bool operator<(const TwoInts& A, const TwoInts& B)
-{
-    return A.b < B.b;
-}
-
-
-// A helper vector type used for CG projections
-class btReducedVector
-{
-public:
-    btAlignedObjectArray<int> m_indices;
-    btAlignedObjectArray<btVector3> m_vecs;
-    int m_sz; // all m_indices value < m_sz
-public:
-	btReducedVector():m_sz(0)
-	{
-		m_indices.resize(0);
-		m_vecs.resize(0);
-        m_indices.clear();
-        m_vecs.clear();
-	}
-	
-    btReducedVector(int sz): m_sz(sz)
-    {
-        m_indices.resize(0);
-        m_vecs.resize(0);
-        m_indices.clear();
-        m_vecs.clear();
-    }
-    
-    btReducedVector(int sz, const btAlignedObjectArray<int>& indices, const btAlignedObjectArray<btVector3>& vecs): m_sz(sz), m_indices(indices), m_vecs(vecs)
-    {
-    }
-    
-    void simplify()
-    {
-        btAlignedObjectArray<int> old_indices(m_indices);
-        btAlignedObjectArray<btVector3> old_vecs(m_vecs);
-        m_indices.resize(0);
-        m_vecs.resize(0);
-        m_indices.clear();
-        m_vecs.clear();
-        for (int i = 0; i < old_indices.size(); ++i)
-        {
-            if (old_vecs[i].length2() > SIMD_EPSILON)
-            {
-                m_indices.push_back(old_indices[i]);
-                m_vecs.push_back(old_vecs[i]);
-            }
-        }
-    }
-    
-    btReducedVector operator+(const btReducedVector& other)
-    {
-		btReducedVector ret(m_sz);
-		int i=0, j=0;
-		while (i < m_indices.size() && j < other.m_indices.size())
-		{
-			if (m_indices[i] < other.m_indices[j])
-			{
-				ret.m_indices.push_back(m_indices[i]);
-				ret.m_vecs.push_back(m_vecs[i]);
-				++i;
-			}
-			else if (m_indices[i] > other.m_indices[j])
-			{
-				ret.m_indices.push_back(other.m_indices[j]);
-				ret.m_vecs.push_back(other.m_vecs[j]);
-				++j;
-			}
-			else
-			{
-				ret.m_indices.push_back(other.m_indices[j]);
-				ret.m_vecs.push_back(m_vecs[i] + other.m_vecs[j]);
-				++i; ++j;
-			}
-		}
-		while (i < m_indices.size())
-		{
-			ret.m_indices.push_back(m_indices[i]);
-			ret.m_vecs.push_back(m_vecs[i]);
-			++i;
-		}
-		while (j < other.m_indices.size())
-		{
-			ret.m_indices.push_back(other.m_indices[j]);
-			ret.m_vecs.push_back(other.m_vecs[j]);
-			++j;
-		}
-        ret.simplify();
-        return ret;
-    }
-
-    btReducedVector operator-()
-    {
-        btReducedVector ret(m_sz);
-        for (int i = 0; i < m_indices.size(); ++i)
-        {
-            ret.m_indices.push_back(m_indices[i]);
-            ret.m_vecs.push_back(-m_vecs[i]);
-        }
-        ret.simplify();
-        return ret;
-    }
-    
-    btReducedVector operator-(const btReducedVector& other)
-    {
-		btReducedVector ret(m_sz);
-		int i=0, j=0;
-		while (i < m_indices.size() && j < other.m_indices.size())
-		{
-			if (m_indices[i] < other.m_indices[j])
-			{
-				ret.m_indices.push_back(m_indices[i]);
-				ret.m_vecs.push_back(m_vecs[i]);
-				++i;
-			}
-			else if (m_indices[i] > other.m_indices[j])
-			{
-				ret.m_indices.push_back(other.m_indices[j]);
-				ret.m_vecs.push_back(-other.m_vecs[j]);
-				++j;
-			}
-			else
-			{
-				ret.m_indices.push_back(other.m_indices[j]);
-				ret.m_vecs.push_back(m_vecs[i] - other.m_vecs[j]);
-				++i; ++j;
-			}
-		}
-		while (i < m_indices.size())
-		{
-			ret.m_indices.push_back(m_indices[i]);
-			ret.m_vecs.push_back(m_vecs[i]);
-			++i;
-		}
-		while (j < other.m_indices.size())
-		{
-			ret.m_indices.push_back(other.m_indices[j]);
-			ret.m_vecs.push_back(-other.m_vecs[j]);
-			++j;
-		}
-        ret.simplify();
-		return ret;
-    }
-    
-    bool operator==(const btReducedVector& other) const
-    {
-        if (m_sz != other.m_sz)
-            return false;
-        if (m_indices.size() != other.m_indices.size())
-            return false;
-        for (int i = 0; i < m_indices.size(); ++i)
-        {
-            if (m_indices[i] != other.m_indices[i] || m_vecs[i] != other.m_vecs[i])
-            {
-                return false;
-            }
-        }
-        return true;
-    }
-    
-    bool operator!=(const btReducedVector& other) const
-    {
-        return !(*this == other);
-    }
-	
-	btReducedVector& operator=(const btReducedVector& other)
-	{
-		if (this == &other)
-		{
-			return *this;
-		}
-        m_sz = other.m_sz;
-		m_indices.copyFromArray(other.m_indices);
-		m_vecs.copyFromArray(other.m_vecs);
-		return *this;
-	}
-    
-    btScalar dot(const btReducedVector& other) const
-    {
-        btScalar ret = 0;
-        int j = 0;
-        for (int i = 0; i < m_indices.size(); ++i)
-        {
-            while (j < other.m_indices.size() && other.m_indices[j] < m_indices[i])
-            {
-                ++j;
-            }
-            if (j < other.m_indices.size() && other.m_indices[j] == m_indices[i])
-            {
-                ret += m_vecs[i].dot(other.m_vecs[j]);
-//                ++j;
-            }
-        }
-        return ret;
-    }
-    
-    btScalar dot(const btAlignedObjectArray<btVector3>& other) const
-    {
-        btScalar ret = 0;
-        for (int i = 0; i < m_indices.size(); ++i)
-        {
-            ret += m_vecs[i].dot(other[m_indices[i]]);
-        }
-        return ret;
-    }
-    
-    btScalar length2() const
-    {
-        return this->dot(*this);
-    }
-	
-	void normalize();
-    
-    // returns the projection of this onto other
-    btReducedVector proj(const btReducedVector& other) const;
-    
-    bool testAdd() const;
-    
-    bool testMinus() const;
-    
-    bool testDot() const;
-    
-    bool testMultiply() const;
-    
-    void test() const;
-    
-    void print() const
-    {
-        for (int i = 0; i < m_indices.size(); ++i)
-        {
-            printf("%d: (%f, %f, %f)/", m_indices[i], m_vecs[i][0],m_vecs[i][1],m_vecs[i][2]);
-        }
-        printf("\n");
-    }
-    
-    
-    void sort()
-    {
-        std::vector<TwoInts> tuples;
-        for (int i = 0; i < m_indices.size(); ++i)
-        {
-            TwoInts ti;
-            ti.a = i;
-            ti.b = m_indices[i];
-            tuples.push_back(ti);
-        }
-        std::sort(tuples.begin(), tuples.end());
-        btAlignedObjectArray<int> new_indices;
-        btAlignedObjectArray<btVector3> new_vecs;
-        for (size_t i = 0; i < tuples.size(); ++i)
-        {
-            new_indices.push_back(tuples[i].b);
-            new_vecs.push_back(m_vecs[tuples[i].a]);
-        }
-        m_indices = new_indices;
-        m_vecs = new_vecs;
-    }
-};
-
-SIMD_FORCE_INLINE btReducedVector operator*(const btReducedVector& v, btScalar s)
-{
-    btReducedVector ret(v.m_sz);
-    for (int i = 0; i < v.m_indices.size(); ++i)
-    {
-        ret.m_indices.push_back(v.m_indices[i]);
-        ret.m_vecs.push_back(s*v.m_vecs[i]);
-    }
-    ret.simplify();
-    return ret;
-}
-
-SIMD_FORCE_INLINE btReducedVector operator*(btScalar s, const btReducedVector& v)
-{
-    return v*s;
-}
-
-SIMD_FORCE_INLINE btReducedVector operator/(const btReducedVector& v, btScalar s)
-{
-	return v * (1.0/s);
-}
-
-SIMD_FORCE_INLINE btReducedVector& operator/=(btReducedVector& v, btScalar s)
-{
-	v = v/s;
-	return v;
-}
-
-SIMD_FORCE_INLINE btReducedVector& operator+=(btReducedVector& v1, const btReducedVector& v2)
-{
-	v1 = v1+v2;
-	return v1;
-}
-
-SIMD_FORCE_INLINE btReducedVector& operator-=(btReducedVector& v1, const btReducedVector& v2)
-{
-	v1 = v1-v2;
-	return v1;
-}
-
-#endif /* btReducedVectors_h */
diff --git a/thirdparty/bullet/LinearMath/btScalar.h b/thirdparty/bullet/LinearMath/btScalar.h
deleted file mode 100644
index b239217bb6..0000000000
--- a/thirdparty/bullet/LinearMath/btScalar.h
+++ /dev/null
@@ -1,832 +0,0 @@
-/*
-Copyright (c) 2003-2009 Erwin Coumans  http://bullet.googlecode.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SCALAR_H
-#define BT_SCALAR_H
-
-#ifdef BT_MANAGED_CODE
-//Aligned data types not supported in managed code
-#pragma unmanaged
-#endif
-
-#include <math.h>
-#include <stdlib.h>  //size_t for MSVC 6.0
-#include <float.h>
-
-/* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
-#define BT_BULLET_VERSION 317
-
-inline int btGetVersion()
-{
-	return BT_BULLET_VERSION;
-}
-
-inline int btIsDoublePrecision()
-{
-  #ifdef BT_USE_DOUBLE_PRECISION
-  return true;
-  #else
-  return false;
-  #endif
-}
-
-
-// The following macro "BT_NOT_EMPTY_FILE" can be put into a file
-// in order suppress the MS Visual C++ Linker warning 4221
-//
-// warning LNK4221: no public symbols found; archive member will be inaccessible
-//
-// This warning occurs on PC and XBOX when a file compiles out completely
-// has no externally visible symbols which may be dependant on configuration
-// #defines and options.
-//
-// see more https://stackoverflow.com/questions/1822887/what-is-the-best-way-to-eliminate-ms-visual-c-linker-warning-warning-lnk422
-
-#if defined(_MSC_VER)
-#define BT_NOT_EMPTY_FILE_CAT_II(p, res) res
-#define BT_NOT_EMPTY_FILE_CAT_I(a, b) BT_NOT_EMPTY_FILE_CAT_II(~, a##b)
-#define BT_NOT_EMPTY_FILE_CAT(a, b) BT_NOT_EMPTY_FILE_CAT_I(a, b)
-#define BT_NOT_EMPTY_FILE                                      \
-	namespace                                                  \
-	{                                                          \
-	char BT_NOT_EMPTY_FILE_CAT(NoEmptyFileDummy, __COUNTER__); \
-	}
-#else
-#define BT_NOT_EMPTY_FILE
-#endif
-
-// clang and most formatting tools don't support indentation of preprocessor guards, so turn it off
-// clang-format off
-#if defined(DEBUG) || defined (_DEBUG)
-	#define BT_DEBUG
-#endif
-
-#ifdef _WIN32
-	#if  defined(__GNUC__)	// it should handle both MINGW and CYGWIN
-        	#define SIMD_FORCE_INLINE        __inline__ __attribute__((always_inline))
-        	#define ATTRIBUTE_ALIGNED16(a)   a __attribute__((aligned(16)))
-        	#define ATTRIBUTE_ALIGNED64(a)   a __attribute__((aligned(64)))
-        	#define ATTRIBUTE_ALIGNED128(a)  a __attribute__((aligned(128)))
-    	#elif ( defined(_MSC_VER) && _MSC_VER < 1300 )
-		#define SIMD_FORCE_INLINE inline
-		#define ATTRIBUTE_ALIGNED16(a) a
-		#define ATTRIBUTE_ALIGNED64(a) a
-		#define ATTRIBUTE_ALIGNED128(a) a
-	#elif defined(_M_ARM)
-		#define SIMD_FORCE_INLINE __forceinline
-		#define ATTRIBUTE_ALIGNED16(a) __declspec() a
-		#define ATTRIBUTE_ALIGNED64(a) __declspec() a
-		#define ATTRIBUTE_ALIGNED128(a) __declspec () a
-	#else//__MINGW32__
-		//#define BT_HAS_ALIGNED_ALLOCATOR
-		#pragma warning(disable : 4324) // disable padding warning
-//			#pragma warning(disable:4530) // Disable the exception disable but used in MSCV Stl warning.
-		#pragma warning(disable:4996) //Turn off warnings about deprecated C routines
-//			#pragma warning(disable:4786) // Disable the "debug name too long" warning
-
-		#define SIMD_FORCE_INLINE __forceinline
-		#define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a
-		#define ATTRIBUTE_ALIGNED64(a) __declspec(align(64)) a
-		#define ATTRIBUTE_ALIGNED128(a) __declspec (align(128)) a
-		#ifdef _XBOX
-			#define BT_USE_VMX128
-
-			#include <ppcintrinsics.h>
- 			#define BT_HAVE_NATIVE_FSEL
- 			#define btFsel(a,b,c) __fsel((a),(b),(c))
-		#else
-
-#if defined (_M_ARM)
-            //Do not turn SSE on for ARM (may want to turn on BT_USE_NEON however)
-#elif (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION))
-
-#ifdef __clang__
-#define __BT_DISABLE_SSE__
-#endif
-#ifndef __BT_DISABLE_SSE__
-			#if _MSC_VER>1400
-				#define BT_USE_SIMD_VECTOR3
-			#endif
-			#define BT_USE_SSE
-#endif//__BT_DISABLE_SSE__
-			#ifdef BT_USE_SSE
-
-#if (_MSC_FULL_VER >= 170050727)//Visual Studio 2012 can compile SSE4/FMA3 (but SSE4/FMA3 is not enabled by default)
-			#define BT_ALLOW_SSE4
-#endif //(_MSC_FULL_VER >= 160040219)
-
-			//BT_USE_SSE_IN_API is disabled under Windows by default, because 
-			//it makes it harder to integrate Bullet into your application under Windows 
-			//(structured embedding Bullet structs/classes need to be 16-byte aligned)
-			//with relatively little performance gain
-			//If you are not embedded Bullet data in your classes, or make sure that you align those classes on 16-byte boundaries
-			//you can manually enable this line or set it in the build system for a bit of performance gain (a few percent, dependent on usage)
-			//#define BT_USE_SSE_IN_API
-			#endif //BT_USE_SSE
-			#include <emmintrin.h>
-#endif
-
-		#endif//_XBOX
-
-	#endif //__MINGW32__
-
-	#ifdef BT_DEBUG
-		#ifdef _MSC_VER
-			#include <stdio.h>
-			#define btAssert(x) { if(!(x)){printf("Assert " __FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak();	}}
-		#else//_MSC_VER
-			#include <assert.h>
-			#define btAssert assert
-		#endif//_MSC_VER
-	#else
-		#define btAssert(x)
-	#endif
-		//btFullAssert is optional, slows down a lot
-		#define btFullAssert(x)
-
-		#define btLikely(_c)  _c
-		#define btUnlikely(_c) _c
-
-#else//_WIN32
-	
-	#if defined	(__CELLOS_LV2__)
-		#define SIMD_FORCE_INLINE inline __attribute__((always_inline))
-		#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
-		#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
-		#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
-		#ifndef assert
-		#include <assert.h>
-		#endif
-		#ifdef BT_DEBUG
-			#ifdef __SPU__
-				#include <spu_printf.h>
-				#define printf spu_printf
-				#define btAssert(x) {if(!(x)){printf("Assert " __FILE__ ":%u ("#x")\n", __LINE__);spu_hcmpeq(0,0);}}
-			#else
-				#define btAssert assert
-			#endif
-	
-		#else//BT_DEBUG
-				#define btAssert(x)
-		#endif//BT_DEBUG
-		//btFullAssert is optional, slows down a lot
-		#define btFullAssert(x)
-
-		#define btLikely(_c)  _c
-		#define btUnlikely(_c) _c
-
-	#else//defined	(__CELLOS_LV2__)
-
-		#ifdef USE_LIBSPE2
-
-			#define SIMD_FORCE_INLINE __inline
-			#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
-			#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
-			#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
-			#ifndef assert
-			#include <assert.h>
-			#endif
-	#ifdef BT_DEBUG
-			#define btAssert assert
-	#else
-			#define btAssert(x)
-	#endif
-			//btFullAssert is optional, slows down a lot
-			#define btFullAssert(x)
-
-
-			#define btLikely(_c)   __builtin_expect((_c), 1)
-			#define btUnlikely(_c) __builtin_expect((_c), 0)
-		
-
-		#else//USE_LIBSPE2
-	//non-windows systems
-
-			#if (defined (__APPLE__) && (!defined (BT_USE_DOUBLE_PRECISION)))
-				#if defined (__i386__) || defined (__x86_64__)
-					#define BT_USE_SIMD_VECTOR3
-					#define BT_USE_SSE
-					//BT_USE_SSE_IN_API is enabled on Mac OSX by default, because memory is automatically aligned on 16-byte boundaries
-					//if apps run into issues, we will disable the next line
-					#define BT_USE_SSE_IN_API
-					#ifdef BT_USE_SSE
-						// include appropriate SSE level
-						#if defined (__SSE4_1__)
-							#include <smmintrin.h>
-						#elif defined (__SSSE3__)
-							#include <tmmintrin.h>
-						#elif defined (__SSE3__)
-							#include <pmmintrin.h>
-						#else
-							#include <emmintrin.h>
-						#endif
-					#endif //BT_USE_SSE
-				#elif defined( __ARM_NEON__ )
-					#ifdef __clang__
-						#define BT_USE_NEON 1
-						#define BT_USE_SIMD_VECTOR3
-		
-						#if defined BT_USE_NEON && defined (__clang__)
-							#include <arm_neon.h>
-						#endif//BT_USE_NEON
-				   #endif //__clang__
-				#endif//__arm__
-
-				#define SIMD_FORCE_INLINE inline __attribute__ ((always_inline))
-			///@todo: check out alignment methods for other platforms/compilers
-				#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
-				#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
-				#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
-				#ifndef assert
-				#include <assert.h>
-				#endif
-
-				#if defined(DEBUG) || defined (_DEBUG)
-				 #if defined (__i386__) || defined (__x86_64__)
-				#include <stdio.h>
-				 #define btAssert(x)\
-				{\
-				if(!(x))\
-				{\
-					printf("Assert %s in line %d, file %s\n",#x, __LINE__, __FILE__);\
-					asm volatile ("int3");\
-				}\
-				}
-				#else//defined (__i386__) || defined (__x86_64__)
-					#define btAssert assert
-				#endif//defined (__i386__) || defined (__x86_64__)
-				#else//defined(DEBUG) || defined (_DEBUG)
-					#define btAssert(x)
-				#endif//defined(DEBUG) || defined (_DEBUG)
-
-				//btFullAssert is optional, slows down a lot
-				#define btFullAssert(x)
-				#define btLikely(_c)  _c
-				#define btUnlikely(_c) _c
-
-			#else//__APPLE__
-
-				#define SIMD_FORCE_INLINE inline
-				///@todo: check out alignment methods for other platforms/compilers
-				///#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
-				///#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
-				///#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
-				#define ATTRIBUTE_ALIGNED16(a) a
-				#define ATTRIBUTE_ALIGNED64(a) a
-				#define ATTRIBUTE_ALIGNED128(a) a
-				#ifndef assert
-				#include <assert.h>
-				#endif
-
-				#if defined(DEBUG) || defined (_DEBUG)
-					#define btAssert assert
-				#else
-					#define btAssert(x)
-				#endif
-
-				//btFullAssert is optional, slows down a lot
-				#define btFullAssert(x)
-				#define btLikely(_c)  _c
-				#define btUnlikely(_c) _c
-			#endif //__APPLE__ 
-		#endif // LIBSPE2
-	#endif	//__CELLOS_LV2__
-#endif//_WIN32
-
-
-///The btScalar type abstracts floating point numbers, to easily switch between double and single floating point precision.
-#if defined(BT_USE_DOUBLE_PRECISION)
-	typedef double btScalar;
-	//this number could be bigger in double precision
-	#define BT_LARGE_FLOAT 1e30
-#else
-	typedef float btScalar;
-	//keep BT_LARGE_FLOAT*BT_LARGE_FLOAT < FLT_MAX
-	#define BT_LARGE_FLOAT 1e18f
-#endif
-
-#ifdef BT_USE_SSE
-	typedef __m128 btSimdFloat4;
-#endif  //BT_USE_SSE
-
-#if defined(BT_USE_SSE)
-	//#if defined BT_USE_SSE_IN_API && defined (BT_USE_SSE)
-	#ifdef _WIN32
-
-		#ifndef BT_NAN
-			static int btNanMask = 0x7F800001;
-			#define BT_NAN (*(float *)&btNanMask)
-		#endif
-
-		#ifndef BT_INFINITY
-			static int btInfinityMask = 0x7F800000;
-			#define BT_INFINITY (*(float *)&btInfinityMask)
-			inline int btGetInfinityMask()  //suppress stupid compiler warning
-			{
-				return btInfinityMask;
-			}
-		#endif
-
-
-
-	//use this, in case there are clashes (such as xnamath.h)
-	#ifndef BT_NO_SIMD_OPERATOR_OVERLOADS
-	inline __m128 operator+(const __m128 A, const __m128 B)
-	{
-		return _mm_add_ps(A, B);
-	}
-
-	inline __m128 operator-(const __m128 A, const __m128 B)
-	{
-		return _mm_sub_ps(A, B);
-	}
-
-	inline __m128 operator*(const __m128 A, const __m128 B)
-	{
-		return _mm_mul_ps(A, B);
-	}
-	#endif  //BT_NO_SIMD_OPERATOR_OVERLOADS
-
-	#define btCastfTo128i(a) (_mm_castps_si128(a))
-	#define btCastfTo128d(a) (_mm_castps_pd(a))
-	#define btCastiTo128f(a) (_mm_castsi128_ps(a))
-	#define btCastdTo128f(a) (_mm_castpd_ps(a))
-	#define btCastdTo128i(a) (_mm_castpd_si128(a))
-	#define btAssign128(r0, r1, r2, r3) _mm_setr_ps(r0, r1, r2, r3)
-
-	#else  //_WIN32
-
-		#define btCastfTo128i(a) ((__m128i)(a))
-		#define btCastfTo128d(a) ((__m128d)(a))
-		#define btCastiTo128f(a) ((__m128)(a))
-		#define btCastdTo128f(a) ((__m128)(a))
-		#define btCastdTo128i(a) ((__m128i)(a))
-		#define btAssign128(r0, r1, r2, r3) \
-			(__m128) { r0, r1, r2, r3 }
-		#define BT_INFINITY INFINITY
-		#define BT_NAN NAN
-	#endif  //_WIN32
-#else//BT_USE_SSE
-
-	#ifdef BT_USE_NEON
-	#include <arm_neon.h>
-
-	typedef float32x4_t btSimdFloat4;
-	#define BT_INFINITY INFINITY
-	#define BT_NAN NAN
-	#define btAssign128(r0, r1, r2, r3) \
-		(float32x4_t) { r0, r1, r2, r3 }
-	#else  //BT_USE_NEON
-
-	#ifndef BT_INFINITY
-	struct btInfMaskConverter
-	{
-		union {
-			float mask;
-			int intmask;
-		};
-		btInfMaskConverter(int _mask = 0x7F800000)
-			: intmask(_mask)
-		{
-		}
-	};
-	static btInfMaskConverter btInfinityMask = 0x7F800000;
-	#define BT_INFINITY (btInfinityMask.mask)
-	inline int btGetInfinityMask()  //suppress stupid compiler warning
-	{
-		return btInfinityMask.intmask;
-	}
-	#endif
-	#endif  //BT_USE_NEON
-
-#endif  //BT_USE_SSE
-
-#ifdef BT_USE_NEON
-	#include <arm_neon.h>
-
-	typedef float32x4_t btSimdFloat4;
-	#define BT_INFINITY INFINITY
-	#define BT_NAN NAN
-	#define btAssign128(r0, r1, r2, r3) \
-		(float32x4_t) { r0, r1, r2, r3 }
-#endif//BT_USE_NEON
-
-#define BT_DECLARE_ALIGNED_ALLOCATOR()                                                                     \
-	SIMD_FORCE_INLINE void *operator new(size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes, 16); }   \
-	SIMD_FORCE_INLINE void operator delete(void *ptr) { btAlignedFree(ptr); }                              \
-	SIMD_FORCE_INLINE void *operator new(size_t, void *ptr) { return ptr; }                                \
-	SIMD_FORCE_INLINE void operator delete(void *, void *) {}                                              \
-	SIMD_FORCE_INLINE void *operator new[](size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes, 16); } \
-	SIMD_FORCE_INLINE void operator delete[](void *ptr) { btAlignedFree(ptr); }                            \
-	SIMD_FORCE_INLINE void *operator new[](size_t, void *ptr) { return ptr; }                              \
-	SIMD_FORCE_INLINE void operator delete[](void *, void *) {}
-
-#if defined(BT_USE_DOUBLE_PRECISION) || defined(BT_FORCE_DOUBLE_FUNCTIONS)
-
-	SIMD_FORCE_INLINE btScalar btSqrt(btScalar x)
-	{
-		return sqrt(x);
-	}
-	SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabs(x); }
-	SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cos(x); }
-	SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sin(x); }
-	SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tan(x); }
-	SIMD_FORCE_INLINE btScalar btAcos(btScalar x)
-	{
-		if (x < btScalar(-1)) x = btScalar(-1);
-		if (x > btScalar(1)) x = btScalar(1);
-		return acos(x);
-	}
-	SIMD_FORCE_INLINE btScalar btAsin(btScalar x)
-	{
-		if (x < btScalar(-1)) x = btScalar(-1);
-		if (x > btScalar(1)) x = btScalar(1);
-		return asin(x);
-	}
-	SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atan(x); }
-	SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2(x, y); }
-	SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return exp(x); }
-	SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return log(x); }
-	SIMD_FORCE_INLINE btScalar btPow(btScalar x, btScalar y) { return pow(x, y); }
-	SIMD_FORCE_INLINE btScalar btFmod(btScalar x, btScalar y) { return fmod(x, y); }
-
-#else//BT_USE_DOUBLE_PRECISION
-
-	SIMD_FORCE_INLINE btScalar btSqrt(btScalar y)
-	{
-	#ifdef USE_APPROXIMATION
-	#ifdef __LP64__
-		float xhalf = 0.5f * y;
-		int i = *(int *)&y;
-		i = 0x5f375a86 - (i >> 1);
-		y = *(float *)&i;
-		y = y * (1.5f - xhalf * y * y);
-		y = y * (1.5f - xhalf * y * y);
-		y = y * (1.5f - xhalf * y * y);
-		y = 1 / y;
-		return y;
-	#else
-		double x, z, tempf;
-		unsigned long *tfptr = ((unsigned long *)&tempf) + 1;
-		tempf = y;
-		*tfptr = (0xbfcdd90a - *tfptr) >> 1; /* estimate of 1/sqrt(y) */
-		x = tempf;
-		z = y * btScalar(0.5);
-		x = (btScalar(1.5) * x) - (x * x) * (x * z); /* iteration formula     */
-		x = (btScalar(1.5) * x) - (x * x) * (x * z);
-		x = (btScalar(1.5) * x) - (x * x) * (x * z);
-		x = (btScalar(1.5) * x) - (x * x) * (x * z);
-		x = (btScalar(1.5) * x) - (x * x) * (x * z);
-		return x * y;
-	#endif
-	#else
-		return sqrtf(y);
-	#endif
-	}
-	SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabsf(x); }
-	SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cosf(x); }
-	SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sinf(x); }
-	SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); }
-	SIMD_FORCE_INLINE btScalar btAcos(btScalar x)
-	{
-		if (x < btScalar(-1))
-			x = btScalar(-1);
-		if (x > btScalar(1))
-			x = btScalar(1);
-		return acosf(x);
-	}
-	SIMD_FORCE_INLINE btScalar btAsin(btScalar x)
-	{
-		if (x < btScalar(-1))
-			x = btScalar(-1);
-		if (x > btScalar(1))
-			x = btScalar(1);
-		return asinf(x);
-	}
-	SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atanf(x); }
-	SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y); }
-	SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return expf(x); }
-	SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return logf(x); }
-	SIMD_FORCE_INLINE btScalar btPow(btScalar x, btScalar y) { return powf(x, y); }
-	SIMD_FORCE_INLINE btScalar btFmod(btScalar x, btScalar y) { return fmodf(x, y); }
-
-#endif//BT_USE_DOUBLE_PRECISION
-
-#define SIMD_PI btScalar(3.1415926535897932384626433832795029)
-#define SIMD_2_PI (btScalar(2.0) * SIMD_PI)
-#define SIMD_HALF_PI (SIMD_PI * btScalar(0.5))
-#define SIMD_RADS_PER_DEG (SIMD_2_PI / btScalar(360.0))
-#define SIMD_DEGS_PER_RAD (btScalar(360.0) / SIMD_2_PI)
-#define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490)
-#define btRecipSqrt(x) ((btScalar)(btScalar(1.0) / btSqrt(btScalar(x)))) /* reciprocal square root */
-#define btRecip(x) (btScalar(1.0) / btScalar(x))
-
-#ifdef BT_USE_DOUBLE_PRECISION
-	#define SIMD_EPSILON DBL_EPSILON
-	#define SIMD_INFINITY DBL_MAX
-	#define BT_ONE 1.0
-	#define BT_ZERO 0.0
-	#define BT_TWO 2.0
-	#define BT_HALF 0.5
-#else
-	#define SIMD_EPSILON FLT_EPSILON
-	#define SIMD_INFINITY FLT_MAX
-	#define BT_ONE 1.0f
-	#define BT_ZERO 0.0f
-	#define BT_TWO 2.0f
-	#define BT_HALF 0.5f
-#endif
-
-// clang-format on
-
-SIMD_FORCE_INLINE btScalar btAtan2Fast(btScalar y, btScalar x)
-{
-	btScalar coeff_1 = SIMD_PI / 4.0f;
-	btScalar coeff_2 = 3.0f * coeff_1;
-	btScalar abs_y = btFabs(y);
-	btScalar angle;
-	if (x >= 0.0f)
-	{
-		btScalar r = (x - abs_y) / (x + abs_y);
-		angle = coeff_1 - coeff_1 * r;
-	}
-	else
-	{
-		btScalar r = (x + abs_y) / (abs_y - x);
-		angle = coeff_2 - coeff_1 * r;
-	}
-	return (y < 0.0f) ? -angle : angle;
-}
-
-SIMD_FORCE_INLINE bool btFuzzyZero(btScalar x) { return btFabs(x) < SIMD_EPSILON; }
-
-SIMD_FORCE_INLINE bool btEqual(btScalar a, btScalar eps)
-{
-	return (((a) <= eps) && !((a) < -eps));
-}
-SIMD_FORCE_INLINE bool btGreaterEqual(btScalar a, btScalar eps)
-{
-	return (!((a) <= eps));
-}
-
-SIMD_FORCE_INLINE int btIsNegative(btScalar x)
-{
-	return x < btScalar(0.0) ? 1 : 0;
-}
-
-SIMD_FORCE_INLINE btScalar btRadians(btScalar x) { return x * SIMD_RADS_PER_DEG; }
-SIMD_FORCE_INLINE btScalar btDegrees(btScalar x) { return x * SIMD_DEGS_PER_RAD; }
-
-#define BT_DECLARE_HANDLE(name) \
-	typedef struct name##__     \
-	{                           \
-		int unused;             \
-	} * name
-
-#ifndef btFsel
-SIMD_FORCE_INLINE btScalar btFsel(btScalar a, btScalar b, btScalar c)
-{
-	return a >= 0 ? b : c;
-}
-#endif
-#define btFsels(a, b, c) (btScalar) btFsel(a, b, c)
-
-SIMD_FORCE_INLINE bool btMachineIsLittleEndian()
-{
-	long int i = 1;
-	const char *p = (const char *)&i;
-	if (p[0] == 1)  // Lowest address contains the least significant byte
-		return true;
-	else
-		return false;
-}
-
-///btSelect avoids branches, which makes performance much better for consoles like Playstation 3 and XBox 360
-///Thanks Phil Knight. See also http://www.cellperformance.com/articles/2006/04/more_techniques_for_eliminatin_1.html
-SIMD_FORCE_INLINE unsigned btSelect(unsigned condition, unsigned valueIfConditionNonZero, unsigned valueIfConditionZero)
-{
-	// Set testNz to 0xFFFFFFFF if condition is nonzero, 0x00000000 if condition is zero
-	// Rely on positive value or'ed with its negative having sign bit on
-	// and zero value or'ed with its negative (which is still zero) having sign bit off
-	// Use arithmetic shift right, shifting the sign bit through all 32 bits
-	unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31);
-	unsigned testEqz = ~testNz;
-	return ((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz));
-}
-SIMD_FORCE_INLINE int btSelect(unsigned condition, int valueIfConditionNonZero, int valueIfConditionZero)
-{
-	unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31);
-	unsigned testEqz = ~testNz;
-	return static_cast<int>((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz));
-}
-SIMD_FORCE_INLINE float btSelect(unsigned condition, float valueIfConditionNonZero, float valueIfConditionZero)
-{
-#ifdef BT_HAVE_NATIVE_FSEL
-	return (float)btFsel((btScalar)condition - btScalar(1.0f), valueIfConditionNonZero, valueIfConditionZero);
-#else
-	return (condition != 0) ? valueIfConditionNonZero : valueIfConditionZero;
-#endif
-}
-
-template <typename T>
-SIMD_FORCE_INLINE void btSwap(T &a, T &b)
-{
-	T tmp = a;
-	a = b;
-	b = tmp;
-}
-
-//PCK: endian swapping functions
-SIMD_FORCE_INLINE unsigned btSwapEndian(unsigned val)
-{
-	return (((val & 0xff000000) >> 24) | ((val & 0x00ff0000) >> 8) | ((val & 0x0000ff00) << 8) | ((val & 0x000000ff) << 24));
-}
-
-SIMD_FORCE_INLINE unsigned short btSwapEndian(unsigned short val)
-{
-	return static_cast<unsigned short>(((val & 0xff00) >> 8) | ((val & 0x00ff) << 8));
-}
-
-SIMD_FORCE_INLINE unsigned btSwapEndian(int val)
-{
-	return btSwapEndian((unsigned)val);
-}
-
-SIMD_FORCE_INLINE unsigned short btSwapEndian(short val)
-{
-	return btSwapEndian((unsigned short)val);
-}
-
-///btSwapFloat uses using char pointers to swap the endianness
-////btSwapFloat/btSwapDouble will NOT return a float, because the machine might 'correct' invalid floating point values
-///Not all values of sign/exponent/mantissa are valid floating point numbers according to IEEE 754.
-///When a floating point unit is faced with an invalid value, it may actually change the value, or worse, throw an exception.
-///In most systems, running user mode code, you wouldn't get an exception, but instead the hardware/os/runtime will 'fix' the number for you.
-///so instead of returning a float/double, we return integer/long long integer
-SIMD_FORCE_INLINE unsigned int btSwapEndianFloat(float d)
-{
-	unsigned int a = 0;
-	unsigned char *dst = (unsigned char *)&a;
-	unsigned char *src = (unsigned char *)&d;
-
-	dst[0] = src[3];
-	dst[1] = src[2];
-	dst[2] = src[1];
-	dst[3] = src[0];
-	return a;
-}
-
-// unswap using char pointers
-SIMD_FORCE_INLINE float btUnswapEndianFloat(unsigned int a)
-{
-	float d = 0.0f;
-	unsigned char *src = (unsigned char *)&a;
-	unsigned char *dst = (unsigned char *)&d;
-
-	dst[0] = src[3];
-	dst[1] = src[2];
-	dst[2] = src[1];
-	dst[3] = src[0];
-
-	return d;
-}
-
-// swap using char pointers
-SIMD_FORCE_INLINE void btSwapEndianDouble(double d, unsigned char *dst)
-{
-	unsigned char *src = (unsigned char *)&d;
-
-	dst[0] = src[7];
-	dst[1] = src[6];
-	dst[2] = src[5];
-	dst[3] = src[4];
-	dst[4] = src[3];
-	dst[5] = src[2];
-	dst[6] = src[1];
-	dst[7] = src[0];
-}
-
-// unswap using char pointers
-SIMD_FORCE_INLINE double btUnswapEndianDouble(const unsigned char *src)
-{
-	double d = 0.0;
-	unsigned char *dst = (unsigned char *)&d;
-
-	dst[0] = src[7];
-	dst[1] = src[6];
-	dst[2] = src[5];
-	dst[3] = src[4];
-	dst[4] = src[3];
-	dst[5] = src[2];
-	dst[6] = src[1];
-	dst[7] = src[0];
-
-	return d;
-}
-
-template <typename T>
-SIMD_FORCE_INLINE void btSetZero(T *a, int n)
-{
-	T *acurr = a;
-	size_t ncurr = n;
-	while (ncurr > 0)
-	{
-		*(acurr++) = 0;
-		--ncurr;
-	}
-}
-
-SIMD_FORCE_INLINE btScalar btLargeDot(const btScalar *a, const btScalar *b, int n)
-{
-	btScalar p0, q0, m0, p1, q1, m1, sum;
-	sum = 0;
-	n -= 2;
-	while (n >= 0)
-	{
-		p0 = a[0];
-		q0 = b[0];
-		m0 = p0 * q0;
-		p1 = a[1];
-		q1 = b[1];
-		m1 = p1 * q1;
-		sum += m0;
-		sum += m1;
-		a += 2;
-		b += 2;
-		n -= 2;
-	}
-	n += 2;
-	while (n > 0)
-	{
-		sum += (*a) * (*b);
-		a++;
-		b++;
-		n--;
-	}
-	return sum;
-}
-
-// returns normalized value in range [-SIMD_PI, SIMD_PI]
-SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians)
-{
-	angleInRadians = btFmod(angleInRadians, SIMD_2_PI);
-	if (angleInRadians < -SIMD_PI)
-	{
-		return angleInRadians + SIMD_2_PI;
-	}
-	else if (angleInRadians > SIMD_PI)
-	{
-		return angleInRadians - SIMD_2_PI;
-	}
-	else
-	{
-		return angleInRadians;
-	}
-}
-
-///rudimentary class to provide type info
-struct btTypedObject
-{
-	btTypedObject(int objectType)
-		: m_objectType(objectType)
-	{
-	}
-	int m_objectType;
-	inline int getObjectType() const
-	{
-		return m_objectType;
-	}
-};
-
-///align a pointer to the provided alignment, upwards
-template <typename T>
-T *btAlignPointer(T *unalignedPtr, size_t alignment)
-{
-	struct btConvertPointerSizeT
-	{
-		union {
-			T *ptr;
-			size_t integer;
-		};
-	};
-	btConvertPointerSizeT converter;
-
-	const size_t bit_mask = ~(alignment - 1);
-	converter.ptr = unalignedPtr;
-	converter.integer += alignment - 1;
-	converter.integer &= bit_mask;
-	return converter.ptr;
-}
-
-#endif  //BT_SCALAR_H
diff --git a/thirdparty/bullet/LinearMath/btSerializer.cpp b/thirdparty/bullet/LinearMath/btSerializer.cpp
deleted file mode 100644
index 068836f2c4..0000000000
--- a/thirdparty/bullet/LinearMath/btSerializer.cpp
+++ /dev/null
@@ -1,692 +0,0 @@
-char sBulletDNAstr[]= {
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-char(4),char(0),char(-119),char(1),char(0),char(0),char(37),char(0),char(0),char(0),char(-79),char(1),char(93),char(0),char(-126),char(1),char(48),char(0),char(-78),char(1),
-char(96),char(0),char(10),char(0),char(13),char(0),char(-85),char(1),char(15),char(0),char(-84),char(1),char(13),char(0),char(-83),char(1),char(13),char(0),char(-82),char(1),
-char(13),char(0),char(-81),char(1),char(7),char(0),char(-80),char(1),char(4),char(0),char(-119),char(1),char(0),char(0),char(-79),char(1),char(94),char(0),char(-126),char(1),
-char(50),char(0),char(-78),char(1),char(97),char(0),char(4),char(0),char(50),char(0),char(-77),char(1),char(96),char(0),char(-76),char(1),char(4),char(0),char(-75),char(1),
-char(0),char(0),char(37),char(0),char(98),char(0),char(4),char(0),char(48),char(0),char(-77),char(1),char(95),char(0),char(-76),char(1),char(4),char(0),char(-75),char(1),
-char(0),char(0),char(37),char(0),};
-int sBulletDNAlen= sizeof(sBulletDNAstr);
diff --git a/thirdparty/bullet/LinearMath/btSerializer.h b/thirdparty/bullet/LinearMath/btSerializer.h
deleted file mode 100644
index f18442f23d..0000000000
--- a/thirdparty/bullet/LinearMath/btSerializer.h
+++ /dev/null
@@ -1,866 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SERIALIZER_H
-#define BT_SERIALIZER_H
-
-#include "btScalar.h"  // has definitions like SIMD_FORCE_INLINE
-#include "btHashMap.h"
-
-#if !defined(__CELLOS_LV2__) && !defined(__MWERKS__)
-#include <memory.h>
-#endif
-#include <string.h>
-
-extern char sBulletDNAstr[];
-extern int sBulletDNAlen;
-extern char sBulletDNAstr64[];
-extern int sBulletDNAlen64;
-
-SIMD_FORCE_INLINE int btStrLen(const char* str)
-{
-	if (!str)
-		return (0);
-	int len = 0;
-
-	while (*str != 0)
-	{
-		str++;
-		len++;
-	}
-
-	return len;
-}
-
-class btChunk
-{
-public:
-	int m_chunkCode;
-	int m_length;
-	void* m_oldPtr;
-	int m_dna_nr;
-	int m_number;
-};
-
-enum btSerializationFlags
-{
-	BT_SERIALIZE_NO_BVH = 1,
-	BT_SERIALIZE_NO_TRIANGLEINFOMAP = 2,
-	BT_SERIALIZE_NO_DUPLICATE_ASSERT = 4,
-	BT_SERIALIZE_CONTACT_MANIFOLDS = 8,
-};
-
-class btSerializer
-{
-public:
-	virtual ~btSerializer() {}
-
-	virtual const unsigned char* getBufferPointer() const = 0;
-
-	virtual int getCurrentBufferSize() const = 0;
-
-	virtual btChunk* allocate(size_t size, int numElements) = 0;
-
-	virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode, void* oldPtr) = 0;
-
-	virtual void* findPointer(void* oldPtr) = 0;
-
-	virtual void* getUniquePointer(void* oldPtr) = 0;
-
-	virtual void startSerialization() = 0;
-
-	virtual void finishSerialization() = 0;
-
-	virtual const char* findNameForPointer(const void* ptr) const = 0;
-
-	virtual void registerNameForPointer(const void* ptr, const char* name) = 0;
-
-	virtual void serializeName(const char* ptr) = 0;
-
-	virtual int getSerializationFlags() const = 0;
-
-	virtual void setSerializationFlags(int flags) = 0;
-
-	virtual int getNumChunks() const = 0;
-
-	virtual const btChunk* getChunk(int chunkIndex) const = 0;
-};
-
-#define BT_HEADER_LENGTH 12
-#if defined(__sgi) || defined(__sparc) || defined(__sparc__) || defined(__PPC__) || defined(__ppc__) || defined(__BIG_ENDIAN__)
-#define BT_MAKE_ID(a, b, c, d) ((int)(a) << 24 | (int)(b) << 16 | (c) << 8 | (d))
-#else
-#define BT_MAKE_ID(a, b, c, d) ((int)(d) << 24 | (int)(c) << 16 | (b) << 8 | (a))
-#endif
-
-#define BT_MULTIBODY_CODE BT_MAKE_ID('M', 'B', 'D', 'Y')
-#define BT_MB_LINKCOLLIDER_CODE BT_MAKE_ID('M', 'B', 'L', 'C')
-#define BT_SOFTBODY_CODE BT_MAKE_ID('S', 'B', 'D', 'Y')
-#define BT_COLLISIONOBJECT_CODE BT_MAKE_ID('C', 'O', 'B', 'J')
-#define BT_RIGIDBODY_CODE BT_MAKE_ID('R', 'B', 'D', 'Y')
-#define BT_CONSTRAINT_CODE BT_MAKE_ID('C', 'O', 'N', 'S')
-#define BT_BOXSHAPE_CODE BT_MAKE_ID('B', 'O', 'X', 'S')
-#define BT_QUANTIZED_BVH_CODE BT_MAKE_ID('Q', 'B', 'V', 'H')
-#define BT_TRIANLGE_INFO_MAP BT_MAKE_ID('T', 'M', 'A', 'P')
-#define BT_SHAPE_CODE BT_MAKE_ID('S', 'H', 'A', 'P')
-#define BT_ARRAY_CODE BT_MAKE_ID('A', 'R', 'A', 'Y')
-#define BT_SBMATERIAL_CODE BT_MAKE_ID('S', 'B', 'M', 'T')
-#define BT_SBNODE_CODE BT_MAKE_ID('S', 'B', 'N', 'D')
-#define BT_DYNAMICSWORLD_CODE BT_MAKE_ID('D', 'W', 'L', 'D')
-#define BT_CONTACTMANIFOLD_CODE BT_MAKE_ID('C', 'O', 'N', 'T')
-#define BT_DNA_CODE BT_MAKE_ID('D', 'N', 'A', '1')
-
-struct btPointerUid
-{
-	union {
-		void* m_ptr;
-		int m_uniqueIds[2];
-	};
-};
-
-struct btBulletSerializedArrays
-{
-	btBulletSerializedArrays()
-	{
-	}
-	btAlignedObjectArray<struct btQuantizedBvhDoubleData*> m_bvhsDouble;
-	btAlignedObjectArray<struct btQuantizedBvhFloatData*> m_bvhsFloat;
-	btAlignedObjectArray<struct btCollisionShapeData*> m_colShapeData;
-	btAlignedObjectArray<struct btDynamicsWorldDoubleData*> m_dynamicWorldInfoDataDouble;
-	btAlignedObjectArray<struct btDynamicsWorldFloatData*> m_dynamicWorldInfoDataFloat;
-	btAlignedObjectArray<struct btRigidBodyDoubleData*> m_rigidBodyDataDouble;
-	btAlignedObjectArray<struct btRigidBodyFloatData*> m_rigidBodyDataFloat;
-	btAlignedObjectArray<struct btCollisionObjectDoubleData*> m_collisionObjectDataDouble;
-	btAlignedObjectArray<struct btCollisionObjectFloatData*> m_collisionObjectDataFloat;
-	btAlignedObjectArray<struct btTypedConstraintFloatData*> m_constraintDataFloat;
-	btAlignedObjectArray<struct btTypedConstraintDoubleData*> m_constraintDataDouble;
-	btAlignedObjectArray<struct btTypedConstraintData*> m_constraintData;  //for backwards compatibility
-	btAlignedObjectArray<struct btSoftBodyFloatData*> m_softBodyFloatData;
-	btAlignedObjectArray<struct btSoftBodyDoubleData*> m_softBodyDoubleData;
-};
-
-///The btDefaultSerializer is the main Bullet serialization class.
-///The constructor takes an optional argument for backwards compatibility, it is recommended to leave this empty/zero.
-class btDefaultSerializer : public btSerializer
-{
-protected:
-	btAlignedObjectArray<char*> mTypes;
-	btAlignedObjectArray<short*> mStructs;
-	btAlignedObjectArray<short> mTlens;
-	btHashMap<btHashInt, int> mStructReverse;
-	btHashMap<btHashString, int> mTypeLookup;
-
-	btHashMap<btHashPtr, void*> m_chunkP;
-
-	btHashMap<btHashPtr, const char*> m_nameMap;
-
-	btHashMap<btHashPtr, btPointerUid> m_uniquePointers;
-	int m_uniqueIdGenerator;
-
-	int m_totalSize;
-	unsigned char* m_buffer;
-	bool m_ownsBuffer;
-	int m_currentSize;
-	void* m_dna;
-	int m_dnaLength;
-
-	int m_serializationFlags;
-
-	btAlignedObjectArray<btChunk*> m_chunkPtrs;
-
-protected:
-	virtual void* findPointer(void* oldPtr)
-	{
-		void** ptr = m_chunkP.find(oldPtr);
-		if (ptr && *ptr)
-			return *ptr;
-		return 0;
-	}
-
-	virtual void writeDNA()
-	{
-		btChunk* dnaChunk = allocate(m_dnaLength, 1);
-		memcpy(dnaChunk->m_oldPtr, m_dna, m_dnaLength);
-		finalizeChunk(dnaChunk, "DNA1", BT_DNA_CODE, m_dna);
-	}
-
-	int getReverseType(const char* type) const
-	{
-		btHashString key(type);
-		const int* valuePtr = mTypeLookup.find(key);
-		if (valuePtr)
-			return *valuePtr;
-
-		return -1;
-	}
-
-	void initDNA(const char* bdnaOrg, int dnalen)
-	{
-		///was already initialized
-		if (m_dna)
-			return;
-
-		int littleEndian = 1;
-		littleEndian = ((char*)&littleEndian)[0];
-
-		m_dna = btAlignedAlloc(dnalen, 16);
-		memcpy(m_dna, bdnaOrg, dnalen);
-		m_dnaLength = dnalen;
-
-		int* intPtr = 0;
-		short* shtPtr = 0;
-		char* cp = 0;
-		int dataLen = 0;
-		intPtr = (int*)m_dna;
-
-		/*
-				SDNA (4 bytes) (magic number)
-				NAME (4 bytes)
-				<nr> (4 bytes) amount of names (int)
-				<string>
-				<string>
-			*/
-
-		if (strncmp((const char*)m_dna, "SDNA", 4) == 0)
-		{
-			// skip ++ NAME
-			intPtr++;
-			intPtr++;
-		}
-
-		// Parse names
-		if (!littleEndian)
-			*intPtr = btSwapEndian(*intPtr);
-
-		dataLen = *intPtr;
-
-		intPtr++;
-
-		cp = (char*)intPtr;
-		int i;
-		for (i = 0; i < dataLen; i++)
-		{
-			while (*cp) cp++;
-			cp++;
-		}
-		cp = btAlignPointer(cp, 4);
-
-		/*
-				TYPE (4 bytes)
-				<nr> amount of types (int)
-				<string>
-				<string>
-			*/
-
-		intPtr = (int*)cp;
-		btAssert(strncmp(cp, "TYPE", 4) == 0);
-		intPtr++;
-
-		if (!littleEndian)
-			*intPtr = btSwapEndian(*intPtr);
-
-		dataLen = *intPtr;
-		intPtr++;
-
-		cp = (char*)intPtr;
-		for (i = 0; i < dataLen; i++)
-		{
-			mTypes.push_back(cp);
-			while (*cp) cp++;
-			cp++;
-		}
-
-		cp = btAlignPointer(cp, 4);
-
-		/*
-				TLEN (4 bytes)
-				<len> (short) the lengths of types
-				<len>
-			*/
-
-		// Parse type lens
-		intPtr = (int*)cp;
-		btAssert(strncmp(cp, "TLEN", 4) == 0);
-		intPtr++;
-
-		dataLen = (int)mTypes.size();
-
-		shtPtr = (short*)intPtr;
-		for (i = 0; i < dataLen; i++, shtPtr++)
-		{
-			if (!littleEndian)
-				shtPtr[0] = btSwapEndian(shtPtr[0]);
-			mTlens.push_back(shtPtr[0]);
-		}
-
-		if (dataLen & 1) shtPtr++;
-
-		/*
-				STRC (4 bytes)
-				<nr> amount of structs (int)
-				<typenr>
-				<nr_of_elems>
-				<typenr>
-				<namenr>
-				<typenr>
-				<namenr>
-			*/
-
-		intPtr = (int*)shtPtr;
-		cp = (char*)intPtr;
-		btAssert(strncmp(cp, "STRC", 4) == 0);
-		intPtr++;
-
-		if (!littleEndian)
-			*intPtr = btSwapEndian(*intPtr);
-		dataLen = *intPtr;
-		intPtr++;
-
-		shtPtr = (short*)intPtr;
-		for (i = 0; i < dataLen; i++)
-		{
-			mStructs.push_back(shtPtr);
-
-			if (!littleEndian)
-			{
-				shtPtr[0] = btSwapEndian(shtPtr[0]);
-				shtPtr[1] = btSwapEndian(shtPtr[1]);
-
-				int len = shtPtr[1];
-				shtPtr += 2;
-
-				for (int a = 0; a < len; a++, shtPtr += 2)
-				{
-					shtPtr[0] = btSwapEndian(shtPtr[0]);
-					shtPtr[1] = btSwapEndian(shtPtr[1]);
-				}
-			}
-			else
-			{
-				shtPtr += (2 * shtPtr[1]) + 2;
-			}
-		}
-
-		// build reverse lookups
-		for (i = 0; i < (int)mStructs.size(); i++)
-		{
-			short* strc = mStructs.at(i);
-			mStructReverse.insert(strc[0], i);
-			mTypeLookup.insert(btHashString(mTypes[strc[0]]), i);
-		}
-	}
-
-public:
-	btHashMap<btHashPtr, void*> m_skipPointers;
-
-	btDefaultSerializer(int totalSize = 0, unsigned char* buffer = 0)
-		: m_uniqueIdGenerator(0),
-		  m_totalSize(totalSize),
-		  m_currentSize(0),
-		  m_dna(0),
-		  m_dnaLength(0),
-		  m_serializationFlags(0)
-	{
-		if (buffer == 0)
-		{
-			m_buffer = m_totalSize ? (unsigned char*)btAlignedAlloc(totalSize, 16) : 0;
-			m_ownsBuffer = true;
-		}
-		else
-		{
-			m_buffer = buffer;
-			m_ownsBuffer = false;
-		}
-
-		const bool VOID_IS_8 = ((sizeof(void*) == 8));
-
-#ifdef BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-		if (VOID_IS_8)
-		{
-#if _WIN64
-			initDNA((const char*)sBulletDNAstr64, sBulletDNAlen64);
-#else
-			btAssert(0);
-#endif
-		}
-		else
-		{
-#ifndef _WIN64
-			initDNA((const char*)sBulletDNAstr, sBulletDNAlen);
-#else
-			btAssert(0);
-#endif
-		}
-
-#else   //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-		if (VOID_IS_8)
-		{
-			initDNA((const char*)sBulletDNAstr64, sBulletDNAlen64);
-		}
-		else
-		{
-			initDNA((const char*)sBulletDNAstr, sBulletDNAlen);
-		}
-#endif  //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-	}
-
-	virtual ~btDefaultSerializer()
-	{
-		if (m_buffer && m_ownsBuffer)
-			btAlignedFree(m_buffer);
-		if (m_dna)
-			btAlignedFree(m_dna);
-	}
-
-	static int getMemoryDnaSizeInBytes()
-	{
-		const bool VOID_IS_8 = ((sizeof(void*) == 8));
-
-		if (VOID_IS_8)
-		{
-			return sBulletDNAlen64;
-		}
-		return sBulletDNAlen;
-	}
-	static const char* getMemoryDna()
-	{
-		const bool VOID_IS_8 = ((sizeof(void*) == 8));
-		if (VOID_IS_8)
-		{
-			return (const char*)sBulletDNAstr64;
-		}
-		return (const char*)sBulletDNAstr;
-	}
-
-	void insertHeader()
-	{
-		writeHeader(m_buffer);
-		m_currentSize += BT_HEADER_LENGTH;
-	}
-
-	void writeHeader(unsigned char* buffer) const
-	{
-#ifdef BT_USE_DOUBLE_PRECISION
-		memcpy(buffer, "BULLETd", 7);
-#else
-		memcpy(buffer, "BULLETf", 7);
-#endif  //BT_USE_DOUBLE_PRECISION
-
-		int littleEndian = 1;
-		littleEndian = ((char*)&littleEndian)[0];
-
-		if (sizeof(void*) == 8)
-		{
-			buffer[7] = '-';
-		}
-		else
-		{
-			buffer[7] = '_';
-		}
-
-		if (littleEndian)
-		{
-			buffer[8] = 'v';
-		}
-		else
-		{
-			buffer[8] = 'V';
-		}
-
-		buffer[9] = '3';
-		buffer[10] = '1';
-		buffer[11] = '7';
-	}
-
-	virtual void startSerialization()
-	{
-		m_uniqueIdGenerator = 1;
-		if (m_totalSize)
-		{
-			unsigned char* buffer = internalAlloc(BT_HEADER_LENGTH);
-			writeHeader(buffer);
-		}
-	}
-
-	virtual void finishSerialization()
-	{
-		writeDNA();
-
-		//if we didn't pre-allocate a buffer, we need to create a contiguous buffer now
-		if (!m_totalSize)
-		{
-			if (m_buffer)
-				btAlignedFree(m_buffer);
-
-			m_currentSize += BT_HEADER_LENGTH;
-			m_buffer = (unsigned char*)btAlignedAlloc(m_currentSize, 16);
-
-			unsigned char* currentPtr = m_buffer;
-			writeHeader(m_buffer);
-			currentPtr += BT_HEADER_LENGTH;
-			for (int i = 0; i < m_chunkPtrs.size(); i++)
-			{
-				int curLength = sizeof(btChunk) + m_chunkPtrs[i]->m_length;
-				memcpy(currentPtr, m_chunkPtrs[i], curLength);
-				btAlignedFree(m_chunkPtrs[i]);
-				currentPtr += curLength;
-			}
-		}
-
-		mTypes.clear();
-		mStructs.clear();
-		mTlens.clear();
-		mStructReverse.clear();
-		mTypeLookup.clear();
-		m_skipPointers.clear();
-		m_chunkP.clear();
-		m_nameMap.clear();
-		m_uniquePointers.clear();
-		m_chunkPtrs.clear();
-	}
-
-	virtual void* getUniquePointer(void* oldPtr)
-	{
-		btAssert(m_uniqueIdGenerator >= 0);
-		if (!oldPtr)
-			return 0;
-
-		btPointerUid* uptr = (btPointerUid*)m_uniquePointers.find(oldPtr);
-		if (uptr)
-		{
-			return uptr->m_ptr;
-		}
-
-		void** ptr2 = m_skipPointers[oldPtr];
-		if (ptr2)
-		{
-			return 0;
-		}
-
-		m_uniqueIdGenerator++;
-
-		btPointerUid uid;
-		uid.m_uniqueIds[0] = m_uniqueIdGenerator;
-		uid.m_uniqueIds[1] = m_uniqueIdGenerator;
-		m_uniquePointers.insert(oldPtr, uid);
-		return uid.m_ptr;
-	}
-
-	virtual const unsigned char* getBufferPointer() const
-	{
-		return m_buffer;
-	}
-
-	virtual int getCurrentBufferSize() const
-	{
-		return m_currentSize;
-	}
-
-	virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode, void* oldPtr)
-	{
-		if (!(m_serializationFlags & BT_SERIALIZE_NO_DUPLICATE_ASSERT))
-		{
-			btAssert(!findPointer(oldPtr));
-		}
-
-		chunk->m_dna_nr = getReverseType(structType);
-
-		chunk->m_chunkCode = chunkCode;
-
-		void* uniquePtr = getUniquePointer(oldPtr);
-
-		m_chunkP.insert(oldPtr, uniquePtr);  //chunk->m_oldPtr);
-		chunk->m_oldPtr = uniquePtr;         //oldPtr;
-	}
-
-	virtual unsigned char* internalAlloc(size_t size)
-	{
-		unsigned char* ptr = 0;
-
-		if (m_totalSize)
-		{
-			ptr = m_buffer + m_currentSize;
-			m_currentSize += int(size);
-			btAssert(m_currentSize < m_totalSize);
-		}
-		else
-		{
-			ptr = (unsigned char*)btAlignedAlloc(size, 16);
-			m_currentSize += int(size);
-		}
-		return ptr;
-	}
-
-	virtual btChunk* allocate(size_t size, int numElements)
-	{
-		unsigned char* ptr = internalAlloc(int(size) * numElements + sizeof(btChunk));
-
-		unsigned char* data = ptr + sizeof(btChunk);
-
-		btChunk* chunk = (btChunk*)ptr;
-		chunk->m_chunkCode = 0;
-		chunk->m_oldPtr = data;
-		chunk->m_length = int(size) * numElements;
-		chunk->m_number = numElements;
-
-		m_chunkPtrs.push_back(chunk);
-
-		return chunk;
-	}
-
-	virtual const char* findNameForPointer(const void* ptr) const
-	{
-		const char* const* namePtr = m_nameMap.find(ptr);
-		if (namePtr && *namePtr)
-			return *namePtr;
-		return 0;
-	}
-
-	virtual void registerNameForPointer(const void* ptr, const char* name)
-	{
-		m_nameMap.insert(ptr, name);
-	}
-
-	virtual void serializeName(const char* name)
-	{
-		if (name)
-		{
-			//don't serialize name twice
-			if (findPointer((void*)name))
-				return;
-
-			int len = btStrLen(name);
-			if (len)
-			{
-				int newLen = len + 1;
-				int padding = ((newLen + 3) & ~3) - newLen;
-				newLen += padding;
-
-				//serialize name string now
-				btChunk* chunk = allocate(sizeof(char), newLen);
-				char* destinationName = (char*)chunk->m_oldPtr;
-				for (int i = 0; i < len; i++)
-				{
-					destinationName[i] = name[i];
-				}
-				destinationName[len] = 0;
-				finalizeChunk(chunk, "char", BT_ARRAY_CODE, (void*)name);
-			}
-		}
-	}
-
-	virtual int getSerializationFlags() const
-	{
-		return m_serializationFlags;
-	}
-
-	virtual void setSerializationFlags(int flags)
-	{
-		m_serializationFlags = flags;
-	}
-	int getNumChunks() const
-	{
-		return m_chunkPtrs.size();
-	}
-
-	const btChunk* getChunk(int chunkIndex) const
-	{
-		return m_chunkPtrs[chunkIndex];
-	}
-};
-
-///In general it is best to use btDefaultSerializer,
-///in particular when writing the data to disk or sending it over the network.
-///The btInMemorySerializer is experimental and only suitable in a few cases.
-///The btInMemorySerializer takes a shortcut and can be useful to create a deep-copy
-///of objects. There will be a demo on how to use the btInMemorySerializer.
-#ifdef ENABLE_INMEMORY_SERIALIZER
-
-struct btInMemorySerializer : public btDefaultSerializer
-{
-	btHashMap<btHashPtr, btChunk*> m_uid2ChunkPtr;
-	btHashMap<btHashPtr, void*> m_orgPtr2UniqueDataPtr;
-	btHashMap<btHashString, const void*> m_names2Ptr;
-
-	btBulletSerializedArrays m_arrays;
-
-	btInMemorySerializer(int totalSize = 0, unsigned char* buffer = 0)
-		: btDefaultSerializer(totalSize, buffer)
-	{
-	}
-
-	virtual void startSerialization()
-	{
-		m_uid2ChunkPtr.clear();
-		//todo: m_arrays.clear();
-		btDefaultSerializer::startSerialization();
-	}
-
-	btChunk* findChunkFromUniquePointer(void* uniquePointer)
-	{
-		btChunk** chkPtr = m_uid2ChunkPtr[uniquePointer];
-		if (chkPtr)
-		{
-			return *chkPtr;
-		}
-		return 0;
-	}
-
-	virtual void registerNameForPointer(const void* ptr, const char* name)
-	{
-		btDefaultSerializer::registerNameForPointer(ptr, name);
-		m_names2Ptr.insert(name, ptr);
-	}
-
-	virtual void finishSerialization()
-	{
-	}
-
-	virtual void* getUniquePointer(void* oldPtr)
-	{
-		if (oldPtr == 0)
-			return 0;
-
-		// void* uniquePtr = getUniquePointer(oldPtr);
-		btChunk* chunk = findChunkFromUniquePointer(oldPtr);
-		if (chunk)
-		{
-			return chunk->m_oldPtr;
-		}
-		else
-		{
-			const char* n = (const char*)oldPtr;
-			const void** ptr = m_names2Ptr[n];
-			if (ptr)
-			{
-				return oldPtr;
-			}
-			else
-			{
-				void** ptr2 = m_skipPointers[oldPtr];
-				if (ptr2)
-				{
-					return 0;
-				}
-				else
-				{
-					//If this assert hit, serialization happened in the wrong order
-					// 'getUniquePointer'
-					btAssert(0);
-				}
-			}
-			return 0;
-		}
-		return oldPtr;
-	}
-
-	virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode, void* oldPtr)
-	{
-		if (!(m_serializationFlags & BT_SERIALIZE_NO_DUPLICATE_ASSERT))
-		{
-			btAssert(!findPointer(oldPtr));
-		}
-
-		chunk->m_dna_nr = getReverseType(structType);
-		chunk->m_chunkCode = chunkCode;
-		//void* uniquePtr = getUniquePointer(oldPtr);
-		m_chunkP.insert(oldPtr, oldPtr);  //chunk->m_oldPtr);
-		// chunk->m_oldPtr = uniquePtr;//oldPtr;
-
-		void* uid = findPointer(oldPtr);
-		m_uid2ChunkPtr.insert(uid, chunk);
-
-		switch (chunk->m_chunkCode)
-		{
-			case BT_SOFTBODY_CODE:
-			{
-#ifdef BT_USE_DOUBLE_PRECISION
-				m_arrays.m_softBodyDoubleData.push_back((btSoftBodyDoubleData*)chunk->m_oldPtr);
-#else
-				m_arrays.m_softBodyFloatData.push_back((btSoftBodyFloatData*)chunk->m_oldPtr);
-#endif
-				break;
-			}
-			case BT_COLLISIONOBJECT_CODE:
-			{
-#ifdef BT_USE_DOUBLE_PRECISION
-				m_arrays.m_collisionObjectDataDouble.push_back((btCollisionObjectDoubleData*)chunk->m_oldPtr);
-#else   //BT_USE_DOUBLE_PRECISION
-				m_arrays.m_collisionObjectDataFloat.push_back((btCollisionObjectFloatData*)chunk->m_oldPtr);
-#endif  //BT_USE_DOUBLE_PRECISION
-				break;
-			}
-			case BT_RIGIDBODY_CODE:
-			{
-#ifdef BT_USE_DOUBLE_PRECISION
-				m_arrays.m_rigidBodyDataDouble.push_back((btRigidBodyDoubleData*)chunk->m_oldPtr);
-#else
-				m_arrays.m_rigidBodyDataFloat.push_back((btRigidBodyFloatData*)chunk->m_oldPtr);
-#endif  //BT_USE_DOUBLE_PRECISION
-				break;
-			};
-			case BT_CONSTRAINT_CODE:
-			{
-#ifdef BT_USE_DOUBLE_PRECISION
-				m_arrays.m_constraintDataDouble.push_back((btTypedConstraintDoubleData*)chunk->m_oldPtr);
-#else
-				m_arrays.m_constraintDataFloat.push_back((btTypedConstraintFloatData*)chunk->m_oldPtr);
-#endif
-				break;
-			}
-			case BT_QUANTIZED_BVH_CODE:
-			{
-#ifdef BT_USE_DOUBLE_PRECISION
-				m_arrays.m_bvhsDouble.push_back((btQuantizedBvhDoubleData*)chunk->m_oldPtr);
-#else
-				m_arrays.m_bvhsFloat.push_back((btQuantizedBvhFloatData*)chunk->m_oldPtr);
-#endif
-				break;
-			}
-
-			case BT_SHAPE_CODE:
-			{
-				btCollisionShapeData* shapeData = (btCollisionShapeData*)chunk->m_oldPtr;
-				m_arrays.m_colShapeData.push_back(shapeData);
-				break;
-			}
-			case BT_TRIANLGE_INFO_MAP:
-			case BT_ARRAY_CODE:
-			case BT_SBMATERIAL_CODE:
-			case BT_SBNODE_CODE:
-			case BT_DYNAMICSWORLD_CODE:
-			case BT_DNA_CODE:
-			{
-				break;
-			}
-			default:
-			{
-			}
-		};
-	}
-
-	int getNumChunks() const
-	{
-		return m_uid2ChunkPtr.size();
-	}
-
-	const btChunk* getChunk(int chunkIndex) const
-	{
-		return *m_uid2ChunkPtr.getAtIndex(chunkIndex);
-	}
-};
-#endif  //ENABLE_INMEMORY_SERIALIZER
-
-#endif  //BT_SERIALIZER_H
diff --git a/thirdparty/bullet/LinearMath/btSerializer64.cpp b/thirdparty/bullet/LinearMath/btSerializer64.cpp
deleted file mode 100644
index 6c4bc7031f..0000000000
--- a/thirdparty/bullet/LinearMath/btSerializer64.cpp
+++ /dev/null
@@ -1,692 +0,0 @@
-char sBulletDNAstr64[]= {
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-char(95),char(114),char(111),char(111),char(116),char(78),char(111),char(100),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(115),char(117),char(98),
-char(116),char(114),char(101),char(101),char(83),char(105),char(122),char(101),char(0),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),char(122),char(101),char(100),
-char(65),char(97),char(98),char(98),char(77),char(105),char(110),char(91),char(51),char(93),char(0),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),char(122),
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-char(105),char(110),char(79),char(114),char(103),char(0),char(109),char(95),char(97),char(97),char(98),char(98),char(77),char(97),char(120),char(79),char(114),char(103),char(0),char(109),
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-char(122),char(101),char(100),char(67),char(111),char(110),char(116),char(105),char(103),char(117),char(111),char(117),char(115),char(78),char(111),char(100),char(101),char(115),char(80),char(116),
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-char(7),char(0),char(100),char(1),char(4),char(0),char(101),char(1),char(4),char(0),char(102),char(1),char(4),char(0),char(103),char(1),char(7),char(0),char(104),char(1),
-char(7),char(0),char(105),char(1),char(4),char(0),char(106),char(1),char(4),char(0),char(107),char(1),char(7),char(0),char(108),char(1),char(7),char(0),char(109),char(1),
-char(7),char(0),char(110),char(1),char(7),char(0),char(111),char(1),char(7),char(0),char(112),char(1),char(7),char(0),char(113),char(1),char(4),char(0),char(114),char(1),
-char(4),char(0),char(115),char(1),char(4),char(0),char(116),char(1),char(91),char(0),char(12),char(0),char(9),char(0),char(117),char(1),char(9),char(0),char(118),char(1),
-char(13),char(0),char(119),char(1),char(7),char(0),char(120),char(1),char(7),char(0),char(-85),char(0),char(7),char(0),char(121),char(1),char(4),char(0),char(122),char(1),
-char(13),char(0),char(123),char(1),char(4),char(0),char(124),char(1),char(4),char(0),char(125),char(1),char(4),char(0),char(126),char(1),char(4),char(0),char(53),char(0),
-char(92),char(0),char(19),char(0),char(50),char(0),char(-68),char(0),char(89),char(0),char(127),char(1),char(82),char(0),char(-128),char(1),char(83),char(0),char(-127),char(1),
-char(84),char(0),char(-126),char(1),char(85),char(0),char(-125),char(1),char(86),char(0),char(-124),char(1),char(87),char(0),char(-123),char(1),char(90),char(0),char(-122),char(1),
-char(91),char(0),char(-121),char(1),char(4),char(0),char(-120),char(1),char(4),char(0),char(102),char(1),char(4),char(0),char(-119),char(1),char(4),char(0),char(-118),char(1),
-char(4),char(0),char(-117),char(1),char(4),char(0),char(-116),char(1),char(4),char(0),char(-115),char(1),char(4),char(0),char(-114),char(1),char(88),char(0),char(-113),char(1),
-char(93),char(0),char(28),char(0),char(16),char(0),char(-112),char(1),char(14),char(0),char(-111),char(1),char(14),char(0),char(-110),char(1),char(14),char(0),char(-109),char(1),
-char(14),char(0),char(-108),char(1),char(14),char(0),char(-107),char(1),char(14),char(0),char(-106),char(1),char(14),char(0),char(-105),char(1),char(14),char(0),char(-104),char(1),
-char(14),char(0),char(-103),char(1),char(8),char(0),char(-102),char(1),char(4),char(0),char(-101),char(1),char(4),char(0),char(126),char(1),char(4),char(0),char(-100),char(1),
-char(4),char(0),char(-99),char(1),char(8),char(0),char(-98),char(1),char(8),char(0),char(-97),char(1),char(8),char(0),char(-96),char(1),char(8),char(0),char(-95),char(1),
-char(8),char(0),char(-94),char(1),char(8),char(0),char(-93),char(1),char(8),char(0),char(-92),char(1),char(8),char(0),char(-91),char(1),char(8),char(0),char(-90),char(1),
-char(0),char(0),char(-89),char(1),char(0),char(0),char(-88),char(1),char(48),char(0),char(-87),char(1),char(0),char(0),char(-86),char(1),char(94),char(0),char(28),char(0),
-char(15),char(0),char(-112),char(1),char(13),char(0),char(-111),char(1),char(13),char(0),char(-110),char(1),char(13),char(0),char(-109),char(1),char(13),char(0),char(-108),char(1),
-char(13),char(0),char(-107),char(1),char(13),char(0),char(-106),char(1),char(13),char(0),char(-105),char(1),char(13),char(0),char(-104),char(1),char(13),char(0),char(-103),char(1),
-char(4),char(0),char(-100),char(1),char(7),char(0),char(-102),char(1),char(4),char(0),char(-101),char(1),char(4),char(0),char(126),char(1),char(7),char(0),char(-98),char(1),
-char(7),char(0),char(-97),char(1),char(7),char(0),char(-96),char(1),char(4),char(0),char(-99),char(1),char(7),char(0),char(-95),char(1),char(7),char(0),char(-94),char(1),
-char(7),char(0),char(-93),char(1),char(7),char(0),char(-92),char(1),char(7),char(0),char(-91),char(1),char(7),char(0),char(-90),char(1),char(0),char(0),char(-89),char(1),
-char(0),char(0),char(-88),char(1),char(50),char(0),char(-87),char(1),char(0),char(0),char(-86),char(1),char(95),char(0),char(11),char(0),char(14),char(0),char(-85),char(1),
-char(16),char(0),char(-84),char(1),char(14),char(0),char(-83),char(1),char(14),char(0),char(-82),char(1),char(14),char(0),char(-81),char(1),char(8),char(0),char(-80),char(1),
-char(4),char(0),char(-119),char(1),char(0),char(0),char(37),char(0),char(0),char(0),char(-79),char(1),char(93),char(0),char(-126),char(1),char(48),char(0),char(-78),char(1),
-char(96),char(0),char(10),char(0),char(13),char(0),char(-85),char(1),char(15),char(0),char(-84),char(1),char(13),char(0),char(-83),char(1),char(13),char(0),char(-82),char(1),
-char(13),char(0),char(-81),char(1),char(7),char(0),char(-80),char(1),char(4),char(0),char(-119),char(1),char(0),char(0),char(-79),char(1),char(94),char(0),char(-126),char(1),
-char(50),char(0),char(-78),char(1),char(97),char(0),char(4),char(0),char(50),char(0),char(-77),char(1),char(96),char(0),char(-76),char(1),char(4),char(0),char(-75),char(1),
-char(0),char(0),char(37),char(0),char(98),char(0),char(4),char(0),char(48),char(0),char(-77),char(1),char(95),char(0),char(-76),char(1),char(4),char(0),char(-75),char(1),
-char(0),char(0),char(37),char(0),};
-int sBulletDNAlen64= sizeof(sBulletDNAstr64);
diff --git a/thirdparty/bullet/LinearMath/btSpatialAlgebra.h b/thirdparty/bullet/LinearMath/btSpatialAlgebra.h
deleted file mode 100644
index 6ad67a1081..0000000000
--- a/thirdparty/bullet/LinearMath/btSpatialAlgebra.h
+++ /dev/null
@@ -1,389 +0,0 @@
-/*
-Copyright (c) 2003-2015 Erwin Coumans, Jakub Stepien
-
-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.
-*/
-
-///These spatial algebra classes are used for btMultiBody,
-///see BulletDynamics/Featherstone
-
-#ifndef BT_SPATIAL_ALGEBRA_H
-#define BT_SPATIAL_ALGEBRA_H
-
-#include "btMatrix3x3.h"
-
-struct btSpatialForceVector
-{
-	btVector3 m_topVec, m_bottomVec;
-	//
-	btSpatialForceVector() { setZero(); }
-	btSpatialForceVector(const btVector3 &angular, const btVector3 &linear) : m_topVec(linear), m_bottomVec(angular) {}
-	btSpatialForceVector(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz)
-	{
-		setValue(ax, ay, az, lx, ly, lz);
-	}
-	//
-	void setVector(const btVector3 &angular, const btVector3 &linear)
-	{
-		m_topVec = linear;
-		m_bottomVec = angular;
-	}
-	void setValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz)
-	{
-		m_bottomVec.setValue(ax, ay, az);
-		m_topVec.setValue(lx, ly, lz);
-	}
-	//
-	void addVector(const btVector3 &angular, const btVector3 &linear)
-	{
-		m_topVec += linear;
-		m_bottomVec += angular;
-	}
-	void addValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz)
-	{
-		m_bottomVec[0] += ax;
-		m_bottomVec[1] += ay;
-		m_bottomVec[2] += az;
-		m_topVec[0] += lx;
-		m_topVec[1] += ly;
-		m_topVec[2] += lz;
-	}
-	//
-	const btVector3 &getLinear() const { return m_topVec; }
-	const btVector3 &getAngular() const { return m_bottomVec; }
-	//
-	void setLinear(const btVector3 &linear) { m_topVec = linear; }
-	void setAngular(const btVector3 &angular) { m_bottomVec = angular; }
-	//
-	void addAngular(const btVector3 &angular) { m_bottomVec += angular; }
-	void addLinear(const btVector3 &linear) { m_topVec += linear; }
-	//
-	void setZero()
-	{
-		m_topVec.setZero();
-		m_bottomVec.setZero();
-	}
-	//
-	btSpatialForceVector &operator+=(const btSpatialForceVector &vec)
-	{
-		m_topVec += vec.m_topVec;
-		m_bottomVec += vec.m_bottomVec;
-		return *this;
-	}
-	btSpatialForceVector &operator-=(const btSpatialForceVector &vec)
-	{
-		m_topVec -= vec.m_topVec;
-		m_bottomVec -= vec.m_bottomVec;
-		return *this;
-	}
-	btSpatialForceVector operator-(const btSpatialForceVector &vec) const { return btSpatialForceVector(m_bottomVec - vec.m_bottomVec, m_topVec - vec.m_topVec); }
-	btSpatialForceVector operator+(const btSpatialForceVector &vec) const { return btSpatialForceVector(m_bottomVec + vec.m_bottomVec, m_topVec + vec.m_topVec); }
-	btSpatialForceVector operator-() const { return btSpatialForceVector(-m_bottomVec, -m_topVec); }
-	btSpatialForceVector operator*(const btScalar &s) const { return btSpatialForceVector(s * m_bottomVec, s * m_topVec); }
-	//btSpatialForceVector & operator = (const btSpatialForceVector &vec) { m_topVec = vec.m_topVec; m_bottomVec = vec.m_bottomVec; return *this; }
-};
-
-struct btSpatialMotionVector
-{
-	btVector3 m_topVec, m_bottomVec;
-	//
-	btSpatialMotionVector() { setZero(); }
-	btSpatialMotionVector(const btVector3 &angular, const btVector3 &linear) : m_topVec(angular), m_bottomVec(linear) {}
-	//
-	void setVector(const btVector3 &angular, const btVector3 &linear)
-	{
-		m_topVec = angular;
-		m_bottomVec = linear;
-	}
-	void setValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz)
-	{
-		m_topVec.setValue(ax, ay, az);
-		m_bottomVec.setValue(lx, ly, lz);
-	}
-	//
-	void addVector(const btVector3 &angular, const btVector3 &linear)
-	{
-		m_topVec += linear;
-		m_bottomVec += angular;
-	}
-	void addValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz)
-	{
-		m_topVec[0] += ax;
-		m_topVec[1] += ay;
-		m_topVec[2] += az;
-		m_bottomVec[0] += lx;
-		m_bottomVec[1] += ly;
-		m_bottomVec[2] += lz;
-	}
-	//
-	const btVector3 &getAngular() const { return m_topVec; }
-	const btVector3 &getLinear() const { return m_bottomVec; }
-	//
-	void setAngular(const btVector3 &angular) { m_topVec = angular; }
-	void setLinear(const btVector3 &linear) { m_bottomVec = linear; }
-	//
-	void addAngular(const btVector3 &angular) { m_topVec += angular; }
-	void addLinear(const btVector3 &linear) { m_bottomVec += linear; }
-	//
-	void setZero()
-	{
-		m_topVec.setZero();
-		m_bottomVec.setZero();
-	}
-	//
-	btScalar dot(const btSpatialForceVector &b) const
-	{
-		return m_bottomVec.dot(b.m_topVec) + m_topVec.dot(b.m_bottomVec);
-	}
-	//
-	template <typename SpatialVectorType>
-	void cross(const SpatialVectorType &b, SpatialVectorType &out) const
-	{
-		out.m_topVec = m_topVec.cross(b.m_topVec);
-		out.m_bottomVec = m_bottomVec.cross(b.m_topVec) + m_topVec.cross(b.m_bottomVec);
-	}
-	template <typename SpatialVectorType>
-	SpatialVectorType cross(const SpatialVectorType &b) const
-	{
-		SpatialVectorType out;
-		out.m_topVec = m_topVec.cross(b.m_topVec);
-		out.m_bottomVec = m_bottomVec.cross(b.m_topVec) + m_topVec.cross(b.m_bottomVec);
-		return out;
-	}
-	//
-	btSpatialMotionVector &operator+=(const btSpatialMotionVector &vec)
-	{
-		m_topVec += vec.m_topVec;
-		m_bottomVec += vec.m_bottomVec;
-		return *this;
-	}
-	btSpatialMotionVector &operator-=(const btSpatialMotionVector &vec)
-	{
-		m_topVec -= vec.m_topVec;
-		m_bottomVec -= vec.m_bottomVec;
-		return *this;
-	}
-	btSpatialMotionVector &operator*=(const btScalar &s)
-	{
-		m_topVec *= s;
-		m_bottomVec *= s;
-		return *this;
-	}
-	btSpatialMotionVector operator-(const btSpatialMotionVector &vec) const { return btSpatialMotionVector(m_topVec - vec.m_topVec, m_bottomVec - vec.m_bottomVec); }
-	btSpatialMotionVector operator+(const btSpatialMotionVector &vec) const { return btSpatialMotionVector(m_topVec + vec.m_topVec, m_bottomVec + vec.m_bottomVec); }
-	btSpatialMotionVector operator-() const { return btSpatialMotionVector(-m_topVec, -m_bottomVec); }
-	btSpatialMotionVector operator*(const btScalar &s) const { return btSpatialMotionVector(s * m_topVec, s * m_bottomVec); }
-};
-
-struct btSymmetricSpatialDyad
-{
-	btMatrix3x3 m_topLeftMat, m_topRightMat, m_bottomLeftMat;
-	//
-	btSymmetricSpatialDyad() { setIdentity(); }
-	btSymmetricSpatialDyad(const btMatrix3x3 &topLeftMat, const btMatrix3x3 &topRightMat, const btMatrix3x3 &bottomLeftMat) { setMatrix(topLeftMat, topRightMat, bottomLeftMat); }
-	//
-	void setMatrix(const btMatrix3x3 &topLeftMat, const btMatrix3x3 &topRightMat, const btMatrix3x3 &bottomLeftMat)
-	{
-		m_topLeftMat = topLeftMat;
-		m_topRightMat = topRightMat;
-		m_bottomLeftMat = bottomLeftMat;
-	}
-	//
-	void addMatrix(const btMatrix3x3 &topLeftMat, const btMatrix3x3 &topRightMat, const btMatrix3x3 &bottomLeftMat)
-	{
-		m_topLeftMat += topLeftMat;
-		m_topRightMat += topRightMat;
-		m_bottomLeftMat += bottomLeftMat;
-	}
-	//
-	void setIdentity()
-	{
-		m_topLeftMat.setIdentity();
-		m_topRightMat.setIdentity();
-		m_bottomLeftMat.setIdentity();
-	}
-	//
-	btSymmetricSpatialDyad &operator-=(const btSymmetricSpatialDyad &mat)
-	{
-		m_topLeftMat -= mat.m_topLeftMat;
-		m_topRightMat -= mat.m_topRightMat;
-		m_bottomLeftMat -= mat.m_bottomLeftMat;
-		return *this;
-	}
-	//
-	btSpatialForceVector operator*(const btSpatialMotionVector &vec)
-	{
-		return btSpatialForceVector(m_bottomLeftMat * vec.m_topVec + m_topLeftMat.transpose() * vec.m_bottomVec, m_topLeftMat * vec.m_topVec + m_topRightMat * vec.m_bottomVec);
-	}
-};
-
-struct btSpatialTransformationMatrix
-{
-	btMatrix3x3 m_rotMat;  //btMatrix3x3 m_trnCrossMat;
-	btVector3 m_trnVec;
-	//
-	enum eOutputOperation
-	{
-		None = 0,
-		Add = 1,
-		Subtract = 2
-	};
-	//
-	template <typename SpatialVectorType>
-	void transform(const SpatialVectorType &inVec,
-				   SpatialVectorType &outVec,
-				   eOutputOperation outOp = None)
-	{
-		if (outOp == None)
-		{
-			outVec.m_topVec = m_rotMat * inVec.m_topVec;
-			outVec.m_bottomVec = -m_trnVec.cross(outVec.m_topVec) + m_rotMat * inVec.m_bottomVec;
-		}
-		else if (outOp == Add)
-		{
-			outVec.m_topVec += m_rotMat * inVec.m_topVec;
-			outVec.m_bottomVec += -m_trnVec.cross(outVec.m_topVec) + m_rotMat * inVec.m_bottomVec;
-		}
-		else if (outOp == Subtract)
-		{
-			outVec.m_topVec -= m_rotMat * inVec.m_topVec;
-			outVec.m_bottomVec -= -m_trnVec.cross(outVec.m_topVec) + m_rotMat * inVec.m_bottomVec;
-		}
-	}
-
-	template <typename SpatialVectorType>
-	void transformRotationOnly(const SpatialVectorType &inVec,
-							   SpatialVectorType &outVec,
-							   eOutputOperation outOp = None)
-	{
-		if (outOp == None)
-		{
-			outVec.m_topVec = m_rotMat * inVec.m_topVec;
-			outVec.m_bottomVec = m_rotMat * inVec.m_bottomVec;
-		}
-		else if (outOp == Add)
-		{
-			outVec.m_topVec += m_rotMat * inVec.m_topVec;
-			outVec.m_bottomVec += m_rotMat * inVec.m_bottomVec;
-		}
-		else if (outOp == Subtract)
-		{
-			outVec.m_topVec -= m_rotMat * inVec.m_topVec;
-			outVec.m_bottomVec -= m_rotMat * inVec.m_bottomVec;
-		}
-	}
-
-	template <typename SpatialVectorType>
-	void transformInverse(const SpatialVectorType &inVec,
-						  SpatialVectorType &outVec,
-						  eOutputOperation outOp = None)
-	{
-		if (outOp == None)
-		{
-			outVec.m_topVec = m_rotMat.transpose() * inVec.m_topVec;
-			outVec.m_bottomVec = m_rotMat.transpose() * (inVec.m_bottomVec + m_trnVec.cross(inVec.m_topVec));
-		}
-		else if (outOp == Add)
-		{
-			outVec.m_topVec += m_rotMat.transpose() * inVec.m_topVec;
-			outVec.m_bottomVec += m_rotMat.transpose() * (inVec.m_bottomVec + m_trnVec.cross(inVec.m_topVec));
-		}
-		else if (outOp == Subtract)
-		{
-			outVec.m_topVec -= m_rotMat.transpose() * inVec.m_topVec;
-			outVec.m_bottomVec -= m_rotMat.transpose() * (inVec.m_bottomVec + m_trnVec.cross(inVec.m_topVec));
-		}
-	}
-
-	template <typename SpatialVectorType>
-	void transformInverseRotationOnly(const SpatialVectorType &inVec,
-									  SpatialVectorType &outVec,
-									  eOutputOperation outOp = None)
-	{
-		if (outOp == None)
-		{
-			outVec.m_topVec = m_rotMat.transpose() * inVec.m_topVec;
-			outVec.m_bottomVec = m_rotMat.transpose() * inVec.m_bottomVec;
-		}
-		else if (outOp == Add)
-		{
-			outVec.m_topVec += m_rotMat.transpose() * inVec.m_topVec;
-			outVec.m_bottomVec += m_rotMat.transpose() * inVec.m_bottomVec;
-		}
-		else if (outOp == Subtract)
-		{
-			outVec.m_topVec -= m_rotMat.transpose() * inVec.m_topVec;
-			outVec.m_bottomVec -= m_rotMat.transpose() * inVec.m_bottomVec;
-		}
-	}
-
-	void transformInverse(const btSymmetricSpatialDyad &inMat,
-						  btSymmetricSpatialDyad &outMat,
-						  eOutputOperation outOp = None)
-	{
-		const btMatrix3x3 r_cross(0, -m_trnVec[2], m_trnVec[1],
-								  m_trnVec[2], 0, -m_trnVec[0],
-								  -m_trnVec[1], m_trnVec[0], 0);
-
-		if (outOp == None)
-		{
-			outMat.m_topLeftMat = m_rotMat.transpose() * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) * m_rotMat;
-			outMat.m_topRightMat = m_rotMat.transpose() * inMat.m_topRightMat * m_rotMat;
-			outMat.m_bottomLeftMat = m_rotMat.transpose() * (r_cross * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) + inMat.m_bottomLeftMat - inMat.m_topLeftMat.transpose() * r_cross) * m_rotMat;
-		}
-		else if (outOp == Add)
-		{
-			outMat.m_topLeftMat += m_rotMat.transpose() * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) * m_rotMat;
-			outMat.m_topRightMat += m_rotMat.transpose() * inMat.m_topRightMat * m_rotMat;
-			outMat.m_bottomLeftMat += m_rotMat.transpose() * (r_cross * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) + inMat.m_bottomLeftMat - inMat.m_topLeftMat.transpose() * r_cross) * m_rotMat;
-		}
-		else if (outOp == Subtract)
-		{
-			outMat.m_topLeftMat -= m_rotMat.transpose() * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) * m_rotMat;
-			outMat.m_topRightMat -= m_rotMat.transpose() * inMat.m_topRightMat * m_rotMat;
-			outMat.m_bottomLeftMat -= m_rotMat.transpose() * (r_cross * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) + inMat.m_bottomLeftMat - inMat.m_topLeftMat.transpose() * r_cross) * m_rotMat;
-		}
-	}
-
-	template <typename SpatialVectorType>
-	SpatialVectorType operator*(const SpatialVectorType &vec)
-	{
-		SpatialVectorType out;
-		transform(vec, out);
-		return out;
-	}
-};
-
-template <typename SpatialVectorType>
-void symmetricSpatialOuterProduct(const SpatialVectorType &a, const SpatialVectorType &b, btSymmetricSpatialDyad &out)
-{
-	//output op maybe?
-
-	out.m_topLeftMat = outerProduct(a.m_topVec, b.m_bottomVec);
-	out.m_topRightMat = outerProduct(a.m_topVec, b.m_topVec);
-	out.m_topLeftMat = outerProduct(a.m_bottomVec, b.m_bottomVec);
-	//maybe simple a*spatTranspose(a) would be nicer?
-}
-
-template <typename SpatialVectorType>
-btSymmetricSpatialDyad symmetricSpatialOuterProduct(const SpatialVectorType &a, const SpatialVectorType &b)
-{
-	btSymmetricSpatialDyad out;
-
-	out.m_topLeftMat = outerProduct(a.m_topVec, b.m_bottomVec);
-	out.m_topRightMat = outerProduct(a.m_topVec, b.m_topVec);
-	out.m_bottomLeftMat = outerProduct(a.m_bottomVec, b.m_bottomVec);
-
-	return out;
-	//maybe simple a*spatTranspose(a) would be nicer?
-}
-
-#endif  //BT_SPATIAL_ALGEBRA_H
diff --git a/thirdparty/bullet/LinearMath/btStackAlloc.h b/thirdparty/bullet/LinearMath/btStackAlloc.h
deleted file mode 100644
index 3fc2084976..0000000000
--- a/thirdparty/bullet/LinearMath/btStackAlloc.h
+++ /dev/null
@@ -1,118 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/*
-StackAlloc extracted from GJK-EPA collision solver by Nathanael Presson
-Nov.2006
-*/
-
-#ifndef BT_STACK_ALLOC
-#define BT_STACK_ALLOC
-
-#include "btScalar.h"  //for btAssert
-#include "btAlignedAllocator.h"
-
-///The btBlock class is an internal structure for the btStackAlloc memory allocator.
-struct btBlock
-{
-	btBlock* previous;
-	unsigned char* address;
-};
-
-///The StackAlloc class provides some fast stack-based memory allocator (LIFO last-in first-out)
-class btStackAlloc
-{
-public:
-	btStackAlloc(unsigned int size)
-	{
-		ctor();
-		create(size);
-	}
-	~btStackAlloc() { destroy(); }
-
-	inline void create(unsigned int size)
-	{
-		destroy();
-		data = (unsigned char*)btAlignedAlloc(size, 16);
-		totalsize = size;
-	}
-	inline void destroy()
-	{
-		btAssert(usedsize == 0);
-		//Raise(L"StackAlloc is still in use");
-
-		if (usedsize == 0)
-		{
-			if (!ischild && data)
-				btAlignedFree(data);
-
-			data = 0;
-			usedsize = 0;
-		}
-	}
-
-	int getAvailableMemory() const
-	{
-		return static_cast<int>(totalsize - usedsize);
-	}
-
-	unsigned char* allocate(unsigned int size)
-	{
-		const unsigned int nus(usedsize + size);
-		if (nus < totalsize)
-		{
-			usedsize = nus;
-			return (data + (usedsize - size));
-		}
-		btAssert(0);
-		//&& (L"Not enough memory"));
-
-		return (0);
-	}
-	SIMD_FORCE_INLINE btBlock* beginBlock()
-	{
-		btBlock* pb = (btBlock*)allocate(sizeof(btBlock));
-		pb->previous = current;
-		pb->address = data + usedsize;
-		current = pb;
-		return (pb);
-	}
-	SIMD_FORCE_INLINE void endBlock(btBlock* block)
-	{
-		btAssert(block == current);
-		//Raise(L"Unmatched blocks");
-		if (block == current)
-		{
-			current = block->previous;
-			usedsize = (unsigned int)((block->address - data) - sizeof(btBlock));
-		}
-	}
-
-private:
-	void ctor()
-	{
-		data = 0;
-		totalsize = 0;
-		usedsize = 0;
-		current = 0;
-		ischild = false;
-	}
-	unsigned char* data;
-	unsigned int totalsize;
-	unsigned int usedsize;
-	btBlock* current;
-	bool ischild;
-};
-
-#endif  //BT_STACK_ALLOC
diff --git a/thirdparty/bullet/LinearMath/btThreads.cpp b/thirdparty/bullet/LinearMath/btThreads.cpp
deleted file mode 100644
index 69a86799fa..0000000000
--- a/thirdparty/bullet/LinearMath/btThreads.cpp
+++ /dev/null
@@ -1,792 +0,0 @@
-/*
-Copyright (c) 2003-2014 Erwin Coumans  http://bullet.googlecode.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btThreads.h"
-#include "btQuickprof.h"
-#include <algorithm>  // for min and max
-
-#if BT_USE_OPENMP && BT_THREADSAFE
-
-#include <omp.h>
-
-#endif  // #if BT_USE_OPENMP && BT_THREADSAFE
-
-#if BT_USE_PPL && BT_THREADSAFE
-
-// use Microsoft Parallel Patterns Library (installed with Visual Studio 2010 and later)
-#include <ppl.h>  // if you get a compile error here, check whether your version of Visual Studio includes PPL
-// Visual Studio 2010 and later should come with it
-#include <concrtrm.h>  // for GetProcessorCount()
-
-#endif  // #if BT_USE_PPL && BT_THREADSAFE
-
-#if BT_USE_TBB && BT_THREADSAFE
-
-// use Intel Threading Building Blocks for thread management
-#define __TBB_NO_IMPLICIT_LINKAGE 1
-#include <tbb/tbb.h>
-#include <tbb/task_scheduler_init.h>
-#include <tbb/parallel_for.h>
-#include <tbb/blocked_range.h>
-
-#endif  // #if BT_USE_TBB && BT_THREADSAFE
-
-#if BT_THREADSAFE
-//
-// Lightweight spin-mutex based on atomics
-// Using ordinary system-provided mutexes like Windows critical sections was noticeably slower
-// presumably because when it fails to lock at first it would sleep the thread and trigger costly
-// context switching.
-//
-
-#if __cplusplus >= 201103L
-
-// for anything claiming full C++11 compliance, use C++11 atomics
-// on GCC or Clang you need to compile with -std=c++11
-#define USE_CPP11_ATOMICS 1
-
-#elif defined(_MSC_VER)
-
-// on MSVC, use intrinsics instead
-#define USE_MSVC_INTRINSICS 1
-
-#elif defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 7))
-
-// available since GCC 4.7 and some versions of clang
-// todo: check for clang
-#define USE_GCC_BUILTIN_ATOMICS 1
-
-#elif defined(__GNUC__) && (__GNUC__ == 4 && __GNUC_MINOR__ >= 1)
-
-// available since GCC 4.1
-#define USE_GCC_BUILTIN_ATOMICS_OLD 1
-
-#endif
-
-#if USE_CPP11_ATOMICS
-
-#include <atomic>
-#include <thread>
-
-#define THREAD_LOCAL_STATIC thread_local static
-
-bool btSpinMutex::tryLock()
-{
-	std::atomic<int>* aDest = reinterpret_cast<std::atomic<int>*>(&mLock);
-	int expected = 0;
-	return std::atomic_compare_exchange_weak_explicit(aDest, &expected, int(1), std::memory_order_acq_rel, std::memory_order_acquire);
-}
-
-void btSpinMutex::lock()
-{
-	// note: this lock does not sleep the thread.
-	while (!tryLock())
-	{
-		// spin
-	}
-}
-
-void btSpinMutex::unlock()
-{
-	std::atomic<int>* aDest = reinterpret_cast<std::atomic<int>*>(&mLock);
-	std::atomic_store_explicit(aDest, int(0), std::memory_order_release);
-}
-
-#elif USE_MSVC_INTRINSICS
-
-#define WIN32_LEAN_AND_MEAN
-
-#include <windows.h>
-#include <intrin.h>
-
-#define THREAD_LOCAL_STATIC __declspec(thread) static
-
-bool btSpinMutex::tryLock()
-{
-	volatile long* aDest = reinterpret_cast<long*>(&mLock);
-	return (0 == _InterlockedCompareExchange(aDest, 1, 0));
-}
-
-void btSpinMutex::lock()
-{
-	// note: this lock does not sleep the thread
-	while (!tryLock())
-	{
-		// spin
-	}
-}
-
-void btSpinMutex::unlock()
-{
-	volatile long* aDest = reinterpret_cast<long*>(&mLock);
-	_InterlockedExchange(aDest, 0);
-}
-
-#elif USE_GCC_BUILTIN_ATOMICS
-
-#define THREAD_LOCAL_STATIC static __thread
-
-bool btSpinMutex::tryLock()
-{
-	int expected = 0;
-	bool weak = false;
-	const int memOrderSuccess = __ATOMIC_ACQ_REL;
-	const int memOrderFail = __ATOMIC_ACQUIRE;
-	return __atomic_compare_exchange_n(&mLock, &expected, int(1), weak, memOrderSuccess, memOrderFail);
-}
-
-void btSpinMutex::lock()
-{
-	// note: this lock does not sleep the thread
-	while (!tryLock())
-	{
-		// spin
-	}
-}
-
-void btSpinMutex::unlock()
-{
-	__atomic_store_n(&mLock, int(0), __ATOMIC_RELEASE);
-}
-
-#elif USE_GCC_BUILTIN_ATOMICS_OLD
-
-#define THREAD_LOCAL_STATIC static __thread
-
-bool btSpinMutex::tryLock()
-{
-	return __sync_bool_compare_and_swap(&mLock, int(0), int(1));
-}
-
-void btSpinMutex::lock()
-{
-	// note: this lock does not sleep the thread
-	while (!tryLock())
-	{
-		// spin
-	}
-}
-
-void btSpinMutex::unlock()
-{
-	// write 0
-	__sync_fetch_and_and(&mLock, int(0));
-}
-
-#else  //#elif USE_MSVC_INTRINSICS
-
-#error "no threading primitives defined -- unknown platform"
-
-#endif  //#else //#elif USE_MSVC_INTRINSICS
-
-#else  //#if BT_THREADSAFE
-
-// These should not be called ever
-void btSpinMutex::lock()
-{
-	btAssert(!"unimplemented btSpinMutex::lock() called");
-}
-
-void btSpinMutex::unlock()
-{
-	btAssert(!"unimplemented btSpinMutex::unlock() called");
-}
-
-bool btSpinMutex::tryLock()
-{
-	btAssert(!"unimplemented btSpinMutex::tryLock() called");
-	return true;
-}
-
-#define THREAD_LOCAL_STATIC static
-
-#endif  // #else //#if BT_THREADSAFE
-
-struct ThreadsafeCounter
-{
-	unsigned int mCounter;
-	btSpinMutex mMutex;
-
-	ThreadsafeCounter()
-	{
-		mCounter = 0;
-		--mCounter;  // first count should come back 0
-	}
-
-	unsigned int getNext()
-	{
-		// no need to optimize this with atomics, it is only called ONCE per thread!
-		mMutex.lock();
-		mCounter++;
-		if (mCounter >= BT_MAX_THREAD_COUNT)
-		{
-			btAssert(!"thread counter exceeded");
-			// wrap back to the first worker index
-			mCounter = 1;
-		}
-		unsigned int val = mCounter;
-		mMutex.unlock();
-		return val;
-	}
-};
-
-static btITaskScheduler* gBtTaskScheduler=0;
-static int gThreadsRunningCounter = 0;  // useful for detecting if we are trying to do nested parallel-for calls
-static btSpinMutex gThreadsRunningCounterMutex;
-static ThreadsafeCounter gThreadCounter;
-
-//
-// BT_DETECT_BAD_THREAD_INDEX tries to detect when there are multiple threads assigned the same thread index.
-//
-// BT_DETECT_BAD_THREAD_INDEX is a developer option to test if
-// certain assumptions about how the task scheduler manages its threads
-// holds true.
-// The main assumption is:
-//   - when the threadpool is resized, the task scheduler either
-//      1. destroys all worker threads and creates all new ones in the correct number, OR
-//      2. never destroys a worker thread
-//
-// We make that assumption because we can't easily enumerate the worker threads of a task scheduler
-// to assign nice sequential thread-indexes. We also do not get notified if a worker thread is destroyed,
-// so we can't tell when a thread-index is no longer being used.
-// We allocate thread-indexes as needed with a sequential global thread counter.
-//
-// Our simple thread-counting scheme falls apart if the task scheduler destroys some threads but
-// continues to re-use other threads and the application repeatedly resizes the thread pool of the
-// task scheduler.
-// In order to prevent the thread-counter from exceeding the global max (BT_MAX_THREAD_COUNT), we
-// wrap the thread counter back to 1. This should only happen if the worker threads have all been
-// destroyed and re-created.
-//
-// BT_DETECT_BAD_THREAD_INDEX only works for Win32 right now,
-// but could be adapted to work with pthreads
-#define BT_DETECT_BAD_THREAD_INDEX 0
-
-#if BT_DETECT_BAD_THREAD_INDEX
-
-typedef DWORD ThreadId_t;
-const static ThreadId_t kInvalidThreadId = 0;
-ThreadId_t gDebugThreadIds[BT_MAX_THREAD_COUNT];
-
-static ThreadId_t getDebugThreadId()
-{
-	return GetCurrentThreadId();
-}
-
-#endif  // #if BT_DETECT_BAD_THREAD_INDEX
-
-// return a unique index per thread, main thread is 0, worker threads are in [1, BT_MAX_THREAD_COUNT)
-unsigned int btGetCurrentThreadIndex()
-{
-	const unsigned int kNullIndex = ~0U;
-	THREAD_LOCAL_STATIC unsigned int sThreadIndex = kNullIndex;
-	if (sThreadIndex == kNullIndex)
-	{
-		sThreadIndex = gThreadCounter.getNext();
-		btAssert(sThreadIndex < BT_MAX_THREAD_COUNT);
-	}
-#if BT_DETECT_BAD_THREAD_INDEX
-	if (gBtTaskScheduler && sThreadIndex > 0)
-	{
-		ThreadId_t tid = getDebugThreadId();
-		// if not set
-		if (gDebugThreadIds[sThreadIndex] == kInvalidThreadId)
-		{
-			// set it
-			gDebugThreadIds[sThreadIndex] = tid;
-		}
-		else
-		{
-			if (gDebugThreadIds[sThreadIndex] != tid)
-			{
-				// this could indicate the task scheduler is breaking our assumptions about
-				// how threads are managed when threadpool is resized
-				btAssert(!"there are 2 or more threads with the same thread-index!");
-				__debugbreak();
-			}
-		}
-	}
-#endif  // #if BT_DETECT_BAD_THREAD_INDEX
-	return sThreadIndex;
-}
-
-bool btIsMainThread()
-{
-	return btGetCurrentThreadIndex() == 0;
-}
-
-void btResetThreadIndexCounter()
-{
-	// for when all current worker threads are destroyed
-	btAssert(btIsMainThread());
-	gThreadCounter.mCounter = 0;
-}
-
-btITaskScheduler::btITaskScheduler(const char* name)
-{
-	m_name = name;
-	m_savedThreadCounter = 0;
-	m_isActive = false;
-}
-
-void btITaskScheduler::activate()
-{
-	// gThreadCounter is used to assign a thread-index to each worker thread in a task scheduler.
-	// The main thread is always thread-index 0, and worker threads are numbered from 1 to 63 (BT_MAX_THREAD_COUNT-1)
-	// The thread-indexes need to be unique amongst the threads that can be running simultaneously.
-	// Since only one task scheduler can be used at a time, it is OK for a pair of threads that belong to different
-	// task schedulers to share the same thread index because they can't be running at the same time.
-	// So each task scheduler needs to keep its own thread counter value
-	if (!m_isActive)
-	{
-		gThreadCounter.mCounter = m_savedThreadCounter;  // restore saved thread counter
-		m_isActive = true;
-	}
-}
-
-void btITaskScheduler::deactivate()
-{
-	if (m_isActive)
-	{
-		m_savedThreadCounter = gThreadCounter.mCounter;  // save thread counter
-		m_isActive = false;
-	}
-}
-
-void btPushThreadsAreRunning()
-{
-	gThreadsRunningCounterMutex.lock();
-	gThreadsRunningCounter++;
-	gThreadsRunningCounterMutex.unlock();
-}
-
-void btPopThreadsAreRunning()
-{
-	gThreadsRunningCounterMutex.lock();
-	gThreadsRunningCounter--;
-	gThreadsRunningCounterMutex.unlock();
-}
-
-bool btThreadsAreRunning()
-{
-	return gThreadsRunningCounter != 0;
-}
-
-void btSetTaskScheduler(btITaskScheduler* ts)
-{
-	int threadId = btGetCurrentThreadIndex();  // make sure we call this on main thread at least once before any workers run
-	if (threadId != 0)
-	{
-		btAssert(!"btSetTaskScheduler must be called from the main thread!");
-		return;
-	}
-	if (gBtTaskScheduler)
-	{
-		// deactivate old task scheduler
-		gBtTaskScheduler->deactivate();
-	}
-	gBtTaskScheduler = ts;
-	if (ts)
-	{
-		// activate new task scheduler
-		ts->activate();
-	}
-}
-
-btITaskScheduler* btGetTaskScheduler()
-{
-	return gBtTaskScheduler;
-}
-
-void btParallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody& body)
-{
-#if BT_THREADSAFE
-
-#if BT_DETECT_BAD_THREAD_INDEX
-	if (!btThreadsAreRunning())
-	{
-		// clear out thread ids
-		for (int i = 0; i < BT_MAX_THREAD_COUNT; ++i)
-		{
-			gDebugThreadIds[i] = kInvalidThreadId;
-		}
-	}
-#endif  // #if BT_DETECT_BAD_THREAD_INDEX
-
-	btAssert(gBtTaskScheduler != NULL);  // call btSetTaskScheduler() with a valid task scheduler first!
-	gBtTaskScheduler->parallelFor(iBegin, iEnd, grainSize, body);
-
-#else  // #if BT_THREADSAFE
-
-	// non-parallel version of btParallelFor
-	btAssert(!"called btParallelFor in non-threadsafe build. enable BT_THREADSAFE");
-	body.forLoop(iBegin, iEnd);
-
-#endif  // #if BT_THREADSAFE
-}
-
-btScalar btParallelSum(int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body)
-{
-#if BT_THREADSAFE
-
-#if BT_DETECT_BAD_THREAD_INDEX
-	if (!btThreadsAreRunning())
-	{
-		// clear out thread ids
-		for (int i = 0; i < BT_MAX_THREAD_COUNT; ++i)
-		{
-			gDebugThreadIds[i] = kInvalidThreadId;
-		}
-	}
-#endif  // #if BT_DETECT_BAD_THREAD_INDEX
-
-	btAssert(gBtTaskScheduler != NULL);  // call btSetTaskScheduler() with a valid task scheduler first!
-	return gBtTaskScheduler->parallelSum(iBegin, iEnd, grainSize, body);
-
-#else  // #if BT_THREADSAFE
-
-	// non-parallel version of btParallelSum
-	btAssert(!"called btParallelFor in non-threadsafe build. enable BT_THREADSAFE");
-	return body.sumLoop(iBegin, iEnd);
-
-#endif  //#else // #if BT_THREADSAFE
-}
-
-///
-/// btTaskSchedulerSequential -- non-threaded implementation of task scheduler
-///                              (really just useful for testing performance of single threaded vs multi)
-///
-class btTaskSchedulerSequential : public btITaskScheduler
-{
-public:
-	btTaskSchedulerSequential() : btITaskScheduler("Sequential") {}
-	virtual int getMaxNumThreads() const BT_OVERRIDE { return 1; }
-	virtual int getNumThreads() const BT_OVERRIDE { return 1; }
-	virtual void setNumThreads(int numThreads) BT_OVERRIDE {}
-	virtual void parallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody& body) BT_OVERRIDE
-	{
-		BT_PROFILE("parallelFor_sequential");
-		body.forLoop(iBegin, iEnd);
-	}
-	virtual btScalar parallelSum(int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body) BT_OVERRIDE
-	{
-		BT_PROFILE("parallelSum_sequential");
-		return body.sumLoop(iBegin, iEnd);
-	}
-};
-
-#if BT_USE_OPENMP && BT_THREADSAFE
-///
-/// btTaskSchedulerOpenMP -- wrapper around OpenMP task scheduler
-///
-class btTaskSchedulerOpenMP : public btITaskScheduler
-{
-	int m_numThreads;
-
-public:
-	btTaskSchedulerOpenMP() : btITaskScheduler("OpenMP")
-	{
-		m_numThreads = 0;
-	}
-	virtual int getMaxNumThreads() const BT_OVERRIDE
-	{
-		return omp_get_max_threads();
-	}
-	virtual int getNumThreads() const BT_OVERRIDE
-	{
-		return m_numThreads;
-	}
-	virtual void setNumThreads(int numThreads) BT_OVERRIDE
-	{
-		// With OpenMP, because it is a standard with various implementations, we can't
-		// know for sure if every implementation has the same behavior of destroying all
-		// previous threads when resizing the threadpool
-		m_numThreads = (std::max)(1, (std::min)(int(BT_MAX_THREAD_COUNT), numThreads));
-		omp_set_num_threads(1);  // hopefully, all previous threads get destroyed here
-		omp_set_num_threads(m_numThreads);
-		m_savedThreadCounter = 0;
-		if (m_isActive)
-		{
-			btResetThreadIndexCounter();
-		}
-	}
-	virtual void parallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody& body) BT_OVERRIDE
-	{
-		BT_PROFILE("parallelFor_OpenMP");
-		btPushThreadsAreRunning();
-#pragma omp parallel for schedule(static, 1)
-		for (int i = iBegin; i < iEnd; i += grainSize)
-		{
-			BT_PROFILE("OpenMP_forJob");
-			body.forLoop(i, (std::min)(i + grainSize, iEnd));
-		}
-		btPopThreadsAreRunning();
-	}
-	virtual btScalar parallelSum(int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body) BT_OVERRIDE
-	{
-		BT_PROFILE("parallelFor_OpenMP");
-		btPushThreadsAreRunning();
-		btScalar sum = btScalar(0);
-#pragma omp parallel for schedule(static, 1) reduction(+ \
-													   : sum)
-		for (int i = iBegin; i < iEnd; i += grainSize)
-		{
-			BT_PROFILE("OpenMP_sumJob");
-			sum += body.sumLoop(i, (std::min)(i + grainSize, iEnd));
-		}
-		btPopThreadsAreRunning();
-		return sum;
-	}
-};
-#endif  // #if BT_USE_OPENMP && BT_THREADSAFE
-
-#if BT_USE_TBB && BT_THREADSAFE
-///
-/// btTaskSchedulerTBB -- wrapper around Intel Threaded Building Blocks task scheduler
-///
-class btTaskSchedulerTBB : public btITaskScheduler
-{
-	int m_numThreads;
-	tbb::task_scheduler_init* m_tbbSchedulerInit;
-
-public:
-	btTaskSchedulerTBB() : btITaskScheduler("IntelTBB")
-	{
-		m_numThreads = 0;
-		m_tbbSchedulerInit = NULL;
-	}
-	~btTaskSchedulerTBB()
-	{
-		if (m_tbbSchedulerInit)
-		{
-			delete m_tbbSchedulerInit;
-			m_tbbSchedulerInit = NULL;
-		}
-	}
-
-	virtual int getMaxNumThreads() const BT_OVERRIDE
-	{
-		return tbb::task_scheduler_init::default_num_threads();
-	}
-	virtual int getNumThreads() const BT_OVERRIDE
-	{
-		return m_numThreads;
-	}
-	virtual void setNumThreads(int numThreads) BT_OVERRIDE
-	{
-		m_numThreads = (std::max)(1, (std::min)(int(BT_MAX_THREAD_COUNT), numThreads));
-		if (m_tbbSchedulerInit)
-		{
-			// destroys all previous threads
-			delete m_tbbSchedulerInit;
-			m_tbbSchedulerInit = NULL;
-		}
-		m_tbbSchedulerInit = new tbb::task_scheduler_init(m_numThreads);
-		m_savedThreadCounter = 0;
-		if (m_isActive)
-		{
-			btResetThreadIndexCounter();
-		}
-	}
-	struct ForBodyAdapter
-	{
-		const btIParallelForBody* mBody;
-
-		ForBodyAdapter(const btIParallelForBody* body) : mBody(body) {}
-		void operator()(const tbb::blocked_range<int>& range) const
-		{
-			BT_PROFILE("TBB_forJob");
-			mBody->forLoop(range.begin(), range.end());
-		}
-	};
-	virtual void parallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody& body) BT_OVERRIDE
-	{
-		BT_PROFILE("parallelFor_TBB");
-		ForBodyAdapter tbbBody(&body);
-		btPushThreadsAreRunning();
-		tbb::parallel_for(tbb::blocked_range<int>(iBegin, iEnd, grainSize),
-						  tbbBody,
-						  tbb::simple_partitioner());
-		btPopThreadsAreRunning();
-	}
-	struct SumBodyAdapter
-	{
-		const btIParallelSumBody* mBody;
-		btScalar mSum;
-
-		SumBodyAdapter(const btIParallelSumBody* body) : mBody(body), mSum(btScalar(0)) {}
-		SumBodyAdapter(const SumBodyAdapter& src, tbb::split) : mBody(src.mBody), mSum(btScalar(0)) {}
-		void join(const SumBodyAdapter& src) { mSum += src.mSum; }
-		void operator()(const tbb::blocked_range<int>& range)
-		{
-			BT_PROFILE("TBB_sumJob");
-			mSum += mBody->sumLoop(range.begin(), range.end());
-		}
-	};
-	virtual btScalar parallelSum(int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body) BT_OVERRIDE
-	{
-		BT_PROFILE("parallelSum_TBB");
-		SumBodyAdapter tbbBody(&body);
-		btPushThreadsAreRunning();
-		tbb::parallel_deterministic_reduce(tbb::blocked_range<int>(iBegin, iEnd, grainSize), tbbBody);
-		btPopThreadsAreRunning();
-		return tbbBody.mSum;
-	}
-};
-#endif  // #if BT_USE_TBB && BT_THREADSAFE
-
-#if BT_USE_PPL && BT_THREADSAFE
-///
-/// btTaskSchedulerPPL -- wrapper around Microsoft Parallel Patterns Lib task scheduler
-///
-class btTaskSchedulerPPL : public btITaskScheduler
-{
-	int m_numThreads;
-	concurrency::combinable<btScalar> m_sum;  // for parallelSum
-public:
-	btTaskSchedulerPPL() : btITaskScheduler("PPL")
-	{
-		m_numThreads = 0;
-	}
-	virtual int getMaxNumThreads() const BT_OVERRIDE
-	{
-		return concurrency::GetProcessorCount();
-	}
-	virtual int getNumThreads() const BT_OVERRIDE
-	{
-		return m_numThreads;
-	}
-	virtual void setNumThreads(int numThreads) BT_OVERRIDE
-	{
-		// capping the thread count for PPL due to a thread-index issue
-		const int maxThreadCount = (std::min)(int(BT_MAX_THREAD_COUNT), 31);
-		m_numThreads = (std::max)(1, (std::min)(maxThreadCount, numThreads));
-		using namespace concurrency;
-		if (CurrentScheduler::Id() != -1)
-		{
-			CurrentScheduler::Detach();
-		}
-		SchedulerPolicy policy;
-		{
-			// PPL seems to destroy threads when threadpool is shrunk, but keeps reusing old threads
-			// force it to destroy old threads
-			policy.SetConcurrencyLimits(1, 1);
-			CurrentScheduler::Create(policy);
-			CurrentScheduler::Detach();
-		}
-		policy.SetConcurrencyLimits(m_numThreads, m_numThreads);
-		CurrentScheduler::Create(policy);
-		m_savedThreadCounter = 0;
-		if (m_isActive)
-		{
-			btResetThreadIndexCounter();
-		}
-	}
-	struct ForBodyAdapter
-	{
-		const btIParallelForBody* mBody;
-		int mGrainSize;
-		int mIndexEnd;
-
-		ForBodyAdapter(const btIParallelForBody* body, int grainSize, int end) : mBody(body), mGrainSize(grainSize), mIndexEnd(end) {}
-		void operator()(int i) const
-		{
-			BT_PROFILE("PPL_forJob");
-			mBody->forLoop(i, (std::min)(i + mGrainSize, mIndexEnd));
-		}
-	};
-	virtual void parallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody& body) BT_OVERRIDE
-	{
-		BT_PROFILE("parallelFor_PPL");
-		// PPL dispatch
-		ForBodyAdapter pplBody(&body, grainSize, iEnd);
-		btPushThreadsAreRunning();
-		// note: MSVC 2010 doesn't support partitioner args, so avoid them
-		concurrency::parallel_for(iBegin,
-								  iEnd,
-								  grainSize,
-								  pplBody);
-		btPopThreadsAreRunning();
-	}
-	struct SumBodyAdapter
-	{
-		const btIParallelSumBody* mBody;
-		concurrency::combinable<btScalar>* mSum;
-		int mGrainSize;
-		int mIndexEnd;
-
-		SumBodyAdapter(const btIParallelSumBody* body, concurrency::combinable<btScalar>* sum, int grainSize, int end) : mBody(body), mSum(sum), mGrainSize(grainSize), mIndexEnd(end) {}
-		void operator()(int i) const
-		{
-			BT_PROFILE("PPL_sumJob");
-			mSum->local() += mBody->sumLoop(i, (std::min)(i + mGrainSize, mIndexEnd));
-		}
-	};
-	static btScalar sumFunc(btScalar a, btScalar b) { return a + b; }
-	virtual btScalar parallelSum(int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body) BT_OVERRIDE
-	{
-		BT_PROFILE("parallelSum_PPL");
-		m_sum.clear();
-		SumBodyAdapter pplBody(&body, &m_sum, grainSize, iEnd);
-		btPushThreadsAreRunning();
-		// note: MSVC 2010 doesn't support partitioner args, so avoid them
-		concurrency::parallel_for(iBegin,
-								  iEnd,
-								  grainSize,
-								  pplBody);
-		btPopThreadsAreRunning();
-		return m_sum.combine(sumFunc);
-	}
-};
-#endif  // #if BT_USE_PPL && BT_THREADSAFE
-
-// create a non-threaded task scheduler (always available)
-btITaskScheduler* btGetSequentialTaskScheduler()
-{
-	static btTaskSchedulerSequential sTaskScheduler;
-	return &sTaskScheduler;
-}
-
-// create an OpenMP task scheduler (if available, otherwise returns null)
-btITaskScheduler* btGetOpenMPTaskScheduler()
-{
-#if BT_USE_OPENMP && BT_THREADSAFE
-	static btTaskSchedulerOpenMP sTaskScheduler;
-	return &sTaskScheduler;
-#else
-	return NULL;
-#endif
-}
-
-// create an Intel TBB task scheduler (if available, otherwise returns null)
-btITaskScheduler* btGetTBBTaskScheduler()
-{
-#if BT_USE_TBB && BT_THREADSAFE
-	static btTaskSchedulerTBB sTaskScheduler;
-	return &sTaskScheduler;
-#else
-	return NULL;
-#endif
-}
-
-// create a PPL task scheduler (if available, otherwise returns null)
-btITaskScheduler* btGetPPLTaskScheduler()
-{
-#if BT_USE_PPL && BT_THREADSAFE
-	static btTaskSchedulerPPL sTaskScheduler;
-	return &sTaskScheduler;
-#else
-	return NULL;
-#endif
-}
diff --git a/thirdparty/bullet/LinearMath/btThreads.h b/thirdparty/bullet/LinearMath/btThreads.h
deleted file mode 100644
index b2227e1724..0000000000
--- a/thirdparty/bullet/LinearMath/btThreads.h
+++ /dev/null
@@ -1,177 +0,0 @@
-/*
-Copyright (c) 2003-2014 Erwin Coumans  http://bullet.googlecode.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_THREADS_H
-#define BT_THREADS_H
-
-#include "btScalar.h"  // has definitions like SIMD_FORCE_INLINE
-
-#if defined(_MSC_VER) && _MSC_VER >= 1600
-// give us a compile error if any signatures of overriden methods is changed
-#define BT_OVERRIDE override
-#endif
-
-#ifndef BT_OVERRIDE
-#define BT_OVERRIDE
-#endif
-
-// Don't set this to larger than 64, without modifying btThreadSupportPosix
-// and btThreadSupportWin32. They use UINT64 bit-masks.
-const unsigned int BT_MAX_THREAD_COUNT = 64;  // only if BT_THREADSAFE is 1
-
-// for internal use only
-bool btIsMainThread();
-bool btThreadsAreRunning();
-unsigned int btGetCurrentThreadIndex();
-void btResetThreadIndexCounter();  // notify that all worker threads have been destroyed
-
-///
-/// btSpinMutex -- lightweight spin-mutex implemented with atomic ops, never puts
-///               a thread to sleep because it is designed to be used with a task scheduler
-///               which has one thread per core and the threads don't sleep until they
-///               run out of tasks. Not good for general purpose use.
-///
-class btSpinMutex
-{
-	int mLock;
-
-public:
-	btSpinMutex()
-	{
-		mLock = 0;
-	}
-	void lock();
-	void unlock();
-	bool tryLock();
-};
-
-//
-// NOTE: btMutex* is for internal Bullet use only
-//
-// If BT_THREADSAFE is undefined or 0, should optimize away to nothing.
-// This is good because for the single-threaded build of Bullet, any calls
-// to these functions will be optimized out.
-//
-// However, for users of the multi-threaded build of Bullet this is kind
-// of bad because if you call any of these functions from external code
-// (where BT_THREADSAFE is undefined) you will get unexpected race conditions.
-//
-SIMD_FORCE_INLINE void btMutexLock(btSpinMutex* mutex)
-{
-#if BT_THREADSAFE
-	mutex->lock();
-#else
-	(void)mutex;
-#endif  // #if BT_THREADSAFE
-}
-
-SIMD_FORCE_INLINE void btMutexUnlock(btSpinMutex* mutex)
-{
-#if BT_THREADSAFE
-	mutex->unlock();
-#else
-	(void)mutex;
-#endif  // #if BT_THREADSAFE
-}
-
-SIMD_FORCE_INLINE bool btMutexTryLock(btSpinMutex* mutex)
-{
-#if BT_THREADSAFE
-	return mutex->tryLock();
-#else
-	(void)mutex;
-	return true;
-#endif  // #if BT_THREADSAFE
-}
-
-//
-// btIParallelForBody -- subclass this to express work that can be done in parallel
-//
-class btIParallelForBody
-{
-public:
-	virtual ~btIParallelForBody() {}
-	virtual void forLoop(int iBegin, int iEnd) const = 0;
-};
-
-//
-// btIParallelSumBody -- subclass this to express work that can be done in parallel
-//                       and produces a sum over all loop elements
-//
-class btIParallelSumBody
-{
-public:
-	virtual ~btIParallelSumBody() {}
-	virtual btScalar sumLoop(int iBegin, int iEnd) const = 0;
-};
-
-//
-// btITaskScheduler -- subclass this to implement a task scheduler that can dispatch work to
-//                     worker threads
-//
-class btITaskScheduler
-{
-public:
-	btITaskScheduler(const char* name);
-	virtual ~btITaskScheduler() {}
-	const char* getName() const { return m_name; }
-
-	virtual int getMaxNumThreads() const = 0;
-	virtual int getNumThreads() const = 0;
-	virtual void setNumThreads(int numThreads) = 0;
-	virtual void parallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody& body) = 0;
-	virtual btScalar parallelSum(int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body) = 0;
-	virtual void sleepWorkerThreadsHint() {}  // hint the task scheduler that we may not be using these threads for a little while
-
-	// internal use only
-	virtual void activate();
-	virtual void deactivate();
-
-protected:
-	const char* m_name;
-	unsigned int m_savedThreadCounter;
-	bool m_isActive;
-};
-
-// set the task scheduler to use for all calls to btParallelFor()
-// NOTE: you must set this prior to using any of the multi-threaded "Mt" classes
-void btSetTaskScheduler(btITaskScheduler* ts);
-
-// get the current task scheduler
-btITaskScheduler* btGetTaskScheduler();
-
-// get non-threaded task scheduler (always available)
-btITaskScheduler* btGetSequentialTaskScheduler();
-
-// create a default task scheduler (Win32 or pthreads based)
-btITaskScheduler* btCreateDefaultTaskScheduler();
-
-// get OpenMP task scheduler (if available, otherwise returns null)
-btITaskScheduler* btGetOpenMPTaskScheduler();
-
-// get Intel TBB task scheduler (if available, otherwise returns null)
-btITaskScheduler* btGetTBBTaskScheduler();
-
-// get PPL task scheduler (if available, otherwise returns null)
-btITaskScheduler* btGetPPLTaskScheduler();
-
-// btParallelFor -- call this to dispatch work like a for-loop
-//                 (iterations may be done out of order, so no dependencies are allowed)
-void btParallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody& body);
-
-// btParallelSum -- call this to dispatch work like a for-loop, returns the sum of all iterations
-//                 (iterations may be done out of order, so no dependencies are allowed)
-btScalar btParallelSum(int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body);
-
-#endif
diff --git a/thirdparty/bullet/LinearMath/btTransform.h b/thirdparty/bullet/LinearMath/btTransform.h
deleted file mode 100644
index 6f2f99818c..0000000000
--- a/thirdparty/bullet/LinearMath/btTransform.h
+++ /dev/null
@@ -1,286 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_TRANSFORM_H
-#define BT_TRANSFORM_H
-
-#include "btMatrix3x3.h"
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btTransformData btTransformDoubleData
-#else
-#define btTransformData btTransformFloatData
-#endif
-
-/**@brief The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear.
- *It can be used in combination with btVector3, btQuaternion and btMatrix3x3 linear algebra classes. */
-ATTRIBUTE_ALIGNED16(class)
-btTransform
-{
-	///Storage for the rotation
-	btMatrix3x3 m_basis;
-	///Storage for the translation
-	btVector3 m_origin;
-
-public:
-	/**@brief No initialization constructor */
-	btTransform() {}
-	/**@brief Constructor from btQuaternion (optional btVector3 )
-   * @param q Rotation from quaternion 
-   * @param c Translation from Vector (default 0,0,0) */
-	explicit SIMD_FORCE_INLINE btTransform(const btQuaternion& q,
-										   const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
-		: m_basis(q),
-		  m_origin(c)
-	{
-	}
-
-	/**@brief Constructor from btMatrix3x3 (optional btVector3)
-   * @param b Rotation from Matrix 
-   * @param c Translation from Vector default (0,0,0)*/
-	explicit SIMD_FORCE_INLINE btTransform(const btMatrix3x3& b,
-										   const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
-		: m_basis(b),
-		  m_origin(c)
-	{
-	}
-	/**@brief Copy constructor */
-	SIMD_FORCE_INLINE btTransform(const btTransform& other)
-		: m_basis(other.m_basis),
-		  m_origin(other.m_origin)
-	{
-	}
-	/**@brief Assignment Operator */
-	SIMD_FORCE_INLINE btTransform& operator=(const btTransform& other)
-	{
-		m_basis = other.m_basis;
-		m_origin = other.m_origin;
-		return *this;
-	}
-
-	/**@brief Set the current transform as the value of the product of two transforms
-   * @param t1 Transform 1
-   * @param t2 Transform 2
-   * This = Transform1 * Transform2 */
-	SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2)
-	{
-		m_basis = t1.m_basis * t2.m_basis;
-		m_origin = t1(t2.m_origin);
-	}
-
-	/*		void multInverseLeft(const btTransform& t1, const btTransform& t2) {
-			btVector3 v = t2.m_origin - t1.m_origin;
-			m_basis = btMultTransposeLeft(t1.m_basis, t2.m_basis);
-			m_origin = v * t1.m_basis;
-		}
-		*/
-
-	/**@brief Return the transform of the vector */
-	SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const
-	{
-		return x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin;
-	}
-
-	/**@brief Return the transform of the vector */
-	SIMD_FORCE_INLINE btVector3 operator*(const btVector3& x) const
-	{
-		return (*this)(x);
-	}
-
-	/**@brief Return the transform of the btQuaternion */
-	SIMD_FORCE_INLINE btQuaternion operator*(const btQuaternion& q) const
-	{
-		return getRotation() * q;
-	}
-
-	/**@brief Return the basis matrix for the rotation */
-	SIMD_FORCE_INLINE btMatrix3x3& getBasis() { return m_basis; }
-	/**@brief Return the basis matrix for the rotation */
-	SIMD_FORCE_INLINE const btMatrix3x3& getBasis() const { return m_basis; }
-
-	/**@brief Return the origin vector translation */
-	SIMD_FORCE_INLINE btVector3& getOrigin() { return m_origin; }
-	/**@brief Return the origin vector translation */
-	SIMD_FORCE_INLINE const btVector3& getOrigin() const { return m_origin; }
-
-	/**@brief Return a quaternion representing the rotation */
-	btQuaternion getRotation() const
-	{
-		btQuaternion q;
-		m_basis.getRotation(q);
-		return q;
-	}
-
-	/**@brief Set from an array 
-   * @param m A pointer to a 16 element array (12 rotation(row major padded on the right by 1), and 3 translation */
-	void setFromOpenGLMatrix(const btScalar* m)
-	{
-		m_basis.setFromOpenGLSubMatrix(m);
-		m_origin.setValue(m[12], m[13], m[14]);
-	}
-
-	/**@brief Fill an array representation
-   * @param m A pointer to a 16 element array (12 rotation(row major padded on the right by 1), and 3 translation */
-	void getOpenGLMatrix(btScalar * m) const
-	{
-		m_basis.getOpenGLSubMatrix(m);
-		m[12] = m_origin.x();
-		m[13] = m_origin.y();
-		m[14] = m_origin.z();
-		m[15] = btScalar(1.0);
-	}
-
-	/**@brief Set the translational element
-   * @param origin The vector to set the translation to */
-	SIMD_FORCE_INLINE void setOrigin(const btVector3& origin)
-	{
-		m_origin = origin;
-	}
-
-	SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const;
-
-	/**@brief Set the rotational element by btMatrix3x3 */
-	SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis)
-	{
-		m_basis = basis;
-	}
-
-	/**@brief Set the rotational element by btQuaternion */
-	SIMD_FORCE_INLINE void setRotation(const btQuaternion& q)
-	{
-		m_basis.setRotation(q);
-	}
-
-	/**@brief Set this transformation to the identity */
-	void setIdentity()
-	{
-		m_basis.setIdentity();
-		m_origin.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
-	}
-
-	/**@brief Multiply this Transform by another(this = this * another) 
-   * @param t The other transform */
-	btTransform& operator*=(const btTransform& t)
-	{
-		m_origin += m_basis * t.m_origin;
-		m_basis *= t.m_basis;
-		return *this;
-	}
-
-	/**@brief Return the inverse of this transform */
-	btTransform inverse() const
-	{
-		btMatrix3x3 inv = m_basis.transpose();
-		return btTransform(inv, inv * -m_origin);
-	}
-
-	/**@brief Return the inverse of this transform times the other transform
-   * @param t The other transform 
-   * return this.inverse() * the other */
-	btTransform inverseTimes(const btTransform& t) const;
-
-	/**@brief Return the product of this transform and the other */
-	btTransform operator*(const btTransform& t) const;
-
-	/**@brief Return an identity transform */
-	static const btTransform& getIdentity()
-	{
-		static const btTransform identityTransform(btMatrix3x3::getIdentity());
-		return identityTransform;
-	}
-
-	void serialize(struct btTransformData & dataOut) const;
-
-	void serializeFloat(struct btTransformFloatData & dataOut) const;
-
-	void deSerialize(const struct btTransformData& dataIn);
-
-	void deSerializeDouble(const struct btTransformDoubleData& dataIn);
-
-	void deSerializeFloat(const struct btTransformFloatData& dataIn);
-};
-
-SIMD_FORCE_INLINE btVector3
-btTransform::invXform(const btVector3& inVec) const
-{
-	btVector3 v = inVec - m_origin;
-	return (m_basis.transpose() * v);
-}
-
-SIMD_FORCE_INLINE btTransform
-btTransform::inverseTimes(const btTransform& t) const
-{
-	btVector3 v = t.getOrigin() - m_origin;
-	return btTransform(m_basis.transposeTimes(t.m_basis),
-					   v * m_basis);
-}
-
-SIMD_FORCE_INLINE btTransform
-	btTransform::operator*(const btTransform& t) const
-{
-	return btTransform(m_basis * t.m_basis,
-					   (*this)(t.m_origin));
-}
-
-/**@brief Test if two transforms have all elements equal */
-SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2)
-{
-	return (t1.getBasis() == t2.getBasis() &&
-			t1.getOrigin() == t2.getOrigin());
-}
-
-///for serialization
-struct btTransformFloatData
-{
-	btMatrix3x3FloatData m_basis;
-	btVector3FloatData m_origin;
-};
-
-struct btTransformDoubleData
-{
-	btMatrix3x3DoubleData m_basis;
-	btVector3DoubleData m_origin;
-};
-
-SIMD_FORCE_INLINE void btTransform::serialize(btTransformData& dataOut) const
-{
-	m_basis.serialize(dataOut.m_basis);
-	m_origin.serialize(dataOut.m_origin);
-}
-
-SIMD_FORCE_INLINE void btTransform::serializeFloat(btTransformFloatData& dataOut) const
-{
-	m_basis.serializeFloat(dataOut.m_basis);
-	m_origin.serializeFloat(dataOut.m_origin);
-}
-
-SIMD_FORCE_INLINE void btTransform::deSerialize(const btTransformData& dataIn)
-{
-	m_basis.deSerialize(dataIn.m_basis);
-	m_origin.deSerialize(dataIn.m_origin);
-}
-
-SIMD_FORCE_INLINE void btTransform::deSerializeFloat(const btTransformFloatData& dataIn)
-{
-	m_basis.deSerializeFloat(dataIn.m_basis);
-	m_origin.deSerializeFloat(dataIn.m_origin);
-}
-
-SIMD_FORCE_INLINE void btTransform::deSerializeDouble(const btTransformDoubleData& dataIn)
-{
-	m_basis.deSerializeDouble(dataIn.m_basis);
-	m_origin.deSerializeDouble(dataIn.m_origin);
-}
-
-#endif  //BT_TRANSFORM_H
diff --git a/thirdparty/bullet/LinearMath/btTransformUtil.h b/thirdparty/bullet/LinearMath/btTransformUtil.h
deleted file mode 100644
index b874dd6807..0000000000
--- a/thirdparty/bullet/LinearMath/btTransformUtil.h
+++ /dev/null
@@ -1,223 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_TRANSFORM_UTIL_H
-#define BT_TRANSFORM_UTIL_H
-
-#include "btTransform.h"
-#define ANGULAR_MOTION_THRESHOLD btScalar(0.5) * SIMD_HALF_PI
-
-SIMD_FORCE_INLINE btVector3 btAabbSupport(const btVector3& halfExtents, const btVector3& supportDir)
-{
-	return btVector3(supportDir.x() < btScalar(0.0) ? -halfExtents.x() : halfExtents.x(),
-					 supportDir.y() < btScalar(0.0) ? -halfExtents.y() : halfExtents.y(),
-					 supportDir.z() < btScalar(0.0) ? -halfExtents.z() : halfExtents.z());
-}
-
-/// Utils related to temporal transforms
-class btTransformUtil
-{
-public:
-	static void integrateTransform(const btTransform& curTrans, const btVector3& linvel, const btVector3& angvel, btScalar timeStep, btTransform& predictedTransform)
-	{
-		predictedTransform.setOrigin(curTrans.getOrigin() + linvel * timeStep);
-		//	#define QUATERNION_DERIVATIVE
-#ifdef QUATERNION_DERIVATIVE
-		btQuaternion predictedOrn = curTrans.getRotation();
-		predictedOrn += (angvel * predictedOrn) * (timeStep * btScalar(0.5));
-		predictedOrn.safeNormalize();
-#else
-		//Exponential map
-		//google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia
-
-		btVector3 axis;
-		btScalar fAngle2 = angvel.length2();
-		btScalar fAngle = 0;
-		if (fAngle2 > SIMD_EPSILON)
-		{
-			fAngle = btSqrt(fAngle2);
-		}
-
-		//limit the angular motion
-		if (fAngle * timeStep > ANGULAR_MOTION_THRESHOLD)
-		{
-			fAngle = ANGULAR_MOTION_THRESHOLD / timeStep;
-		}
-
-		if (fAngle < btScalar(0.001))
-		{
-			// use Taylor's expansions of sync function
-			axis = angvel * (btScalar(0.5) * timeStep - (timeStep * timeStep * timeStep) * (btScalar(0.020833333333)) * fAngle * fAngle);
-		}
-		else
-		{
-			// sync(fAngle) = sin(c*fAngle)/t
-			axis = angvel * (btSin(btScalar(0.5) * fAngle * timeStep) / fAngle);
-		}
-		btQuaternion dorn(axis.x(), axis.y(), axis.z(), btCos(fAngle * timeStep * btScalar(0.5)));
-		btQuaternion orn0 = curTrans.getRotation();
-
-		btQuaternion predictedOrn = dorn * orn0;
-		predictedOrn.safeNormalize();
-#endif
-		if (predictedOrn.length2() > SIMD_EPSILON)
-		{
-			predictedTransform.setRotation(predictedOrn);
-		}
-		else
-		{
-			predictedTransform.setBasis(curTrans.getBasis());
-		}
-	}
-
-	static void calculateVelocityQuaternion(const btVector3& pos0, const btVector3& pos1, const btQuaternion& orn0, const btQuaternion& orn1, btScalar timeStep, btVector3& linVel, btVector3& angVel)
-	{
-		linVel = (pos1 - pos0) / timeStep;
-		btVector3 axis;
-		btScalar angle;
-		if (orn0 != orn1)
-		{
-			calculateDiffAxisAngleQuaternion(orn0, orn1, axis, angle);
-			angVel = axis * angle / timeStep;
-		}
-		else
-		{
-			angVel.setValue(0, 0, 0);
-		}
-	}
-
-	static void calculateDiffAxisAngleQuaternion(const btQuaternion& orn0, const btQuaternion& orn1a, btVector3& axis, btScalar& angle)
-	{
-		btQuaternion orn1 = orn0.nearest(orn1a);
-		btQuaternion dorn = orn1 * orn0.inverse();
-		angle = dorn.getAngle();
-		axis = btVector3(dorn.x(), dorn.y(), dorn.z());
-		axis[3] = btScalar(0.);
-		//check for axis length
-		btScalar len = axis.length2();
-		if (len < SIMD_EPSILON * SIMD_EPSILON)
-			axis = btVector3(btScalar(1.), btScalar(0.), btScalar(0.));
-		else
-			axis /= btSqrt(len);
-	}
-
-	static void calculateVelocity(const btTransform& transform0, const btTransform& transform1, btScalar timeStep, btVector3& linVel, btVector3& angVel)
-	{
-		linVel = (transform1.getOrigin() - transform0.getOrigin()) / timeStep;
-		btVector3 axis;
-		btScalar angle;
-		calculateDiffAxisAngle(transform0, transform1, axis, angle);
-		angVel = axis * angle / timeStep;
-	}
-
-	static void calculateDiffAxisAngle(const btTransform& transform0, const btTransform& transform1, btVector3& axis, btScalar& angle)
-	{
-		btMatrix3x3 dmat = transform1.getBasis() * transform0.getBasis().inverse();
-		btQuaternion dorn;
-		dmat.getRotation(dorn);
-
-		///floating point inaccuracy can lead to w component > 1..., which breaks
-		dorn.normalize();
-
-		angle = dorn.getAngle();
-		axis = btVector3(dorn.x(), dorn.y(), dorn.z());
-		axis[3] = btScalar(0.);
-		//check for axis length
-		btScalar len = axis.length2();
-		if (len < SIMD_EPSILON * SIMD_EPSILON)
-			axis = btVector3(btScalar(1.), btScalar(0.), btScalar(0.));
-		else
-			axis /= btSqrt(len);
-	}
-};
-
-///The btConvexSeparatingDistanceUtil can help speed up convex collision detection
-///by conservatively updating a cached separating distance/vector instead of re-calculating the closest distance
-class btConvexSeparatingDistanceUtil
-{
-	btQuaternion m_ornA;
-	btQuaternion m_ornB;
-	btVector3 m_posA;
-	btVector3 m_posB;
-
-	btVector3 m_separatingNormal;
-
-	btScalar m_boundingRadiusA;
-	btScalar m_boundingRadiusB;
-	btScalar m_separatingDistance;
-
-public:
-	btConvexSeparatingDistanceUtil(btScalar boundingRadiusA, btScalar boundingRadiusB)
-		: m_boundingRadiusA(boundingRadiusA),
-		  m_boundingRadiusB(boundingRadiusB),
-		  m_separatingDistance(0.f)
-	{
-	}
-
-	btScalar getConservativeSeparatingDistance()
-	{
-		return m_separatingDistance;
-	}
-
-	void updateSeparatingDistance(const btTransform& transA, const btTransform& transB)
-	{
-		const btVector3& toPosA = transA.getOrigin();
-		const btVector3& toPosB = transB.getOrigin();
-		btQuaternion toOrnA = transA.getRotation();
-		btQuaternion toOrnB = transB.getRotation();
-
-		if (m_separatingDistance > 0.f)
-		{
-			btVector3 linVelA, angVelA, linVelB, angVelB;
-			btTransformUtil::calculateVelocityQuaternion(m_posA, toPosA, m_ornA, toOrnA, btScalar(1.), linVelA, angVelA);
-			btTransformUtil::calculateVelocityQuaternion(m_posB, toPosB, m_ornB, toOrnB, btScalar(1.), linVelB, angVelB);
-			btScalar maxAngularProjectedVelocity = angVelA.length() * m_boundingRadiusA + angVelB.length() * m_boundingRadiusB;
-			btVector3 relLinVel = (linVelB - linVelA);
-			btScalar relLinVelocLength = relLinVel.dot(m_separatingNormal);
-			if (relLinVelocLength < 0.f)
-			{
-				relLinVelocLength = 0.f;
-			}
-
-			btScalar projectedMotion = maxAngularProjectedVelocity + relLinVelocLength;
-			m_separatingDistance -= projectedMotion;
-		}
-
-		m_posA = toPosA;
-		m_posB = toPosB;
-		m_ornA = toOrnA;
-		m_ornB = toOrnB;
-	}
-
-	void initSeparatingDistance(const btVector3& separatingVector, btScalar separatingDistance, const btTransform& transA, const btTransform& transB)
-	{
-		m_separatingDistance = separatingDistance;
-
-		if (m_separatingDistance > 0.f)
-		{
-			m_separatingNormal = separatingVector;
-
-			const btVector3& toPosA = transA.getOrigin();
-			const btVector3& toPosB = transB.getOrigin();
-			btQuaternion toOrnA = transA.getRotation();
-			btQuaternion toOrnB = transB.getRotation();
-			m_posA = toPosA;
-			m_posB = toPosB;
-			m_ornA = toOrnA;
-			m_ornB = toOrnB;
-		}
-	}
-};
-
-#endif  //BT_TRANSFORM_UTIL_H
diff --git a/thirdparty/bullet/LinearMath/btVector3.cpp b/thirdparty/bullet/LinearMath/btVector3.cpp
deleted file mode 100644
index 13111157af..0000000000
--- a/thirdparty/bullet/LinearMath/btVector3.cpp
+++ /dev/null
@@ -1,1664 +0,0 @@
-/*
- Copyright (c) 2011 Apple Inc.
- http://continuousphysics.com/Bullet/
- 
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose, 
- including commercial applications, and to alter it and redistribute it freely, 
- subject to the following restrictions:
- 
- 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- 
- This source version has been altered.
- */
-
-#if defined(_WIN32) || defined(__i386__)
-#define BT_USE_SSE_IN_API
-#endif
-
-#include "btVector3.h"
-
-#if defined BT_USE_SIMD_VECTOR3
-
-#if DEBUG
-#include <string.h>  //for memset
-#endif
-
-#ifdef __APPLE__
-#include <stdint.h>
-typedef float float4 __attribute__((vector_size(16)));
-#else
-#define float4 __m128
-#endif
-//typedef  uint32_t uint4 __attribute__ ((vector_size(16)));
-
-#if defined BT_USE_SSE || defined _WIN32
-
-#define LOG2_ARRAY_SIZE 6
-#define STACK_ARRAY_COUNT (1UL << LOG2_ARRAY_SIZE)
-
-#include <emmintrin.h>
-
-long _maxdot_large(const float *vv, const float *vec, unsigned long count, float *dotResult);
-long _maxdot_large(const float *vv, const float *vec, unsigned long count, float *dotResult)
-{
-	const float4 *vertices = (const float4 *)vv;
-	static const unsigned char indexTable[16] = {(unsigned char)-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0};
-	float4 dotMax = btAssign128(-BT_INFINITY, -BT_INFINITY, -BT_INFINITY, -BT_INFINITY);
-	float4 vvec = _mm_loadu_ps(vec);
-	float4 vHi = btCastiTo128f(_mm_shuffle_epi32(btCastfTo128i(vvec), 0xaa));  /// zzzz
-	float4 vLo = _mm_movelh_ps(vvec, vvec);                                    /// xyxy
-
-	long maxIndex = -1L;
-
-	size_t segment = 0;
-	float4 stack_array[STACK_ARRAY_COUNT];
-
-#if DEBUG
-	//memset( stack_array, -1, STACK_ARRAY_COUNT * sizeof(stack_array[0]) );
-#endif
-
-	size_t index;
-	float4 max;
-	// Faster loop without cleanup code for full tiles
-	for (segment = 0; segment + STACK_ARRAY_COUNT * 4 <= count; segment += STACK_ARRAY_COUNT * 4)
-	{
-		max = dotMax;
-
-		for (index = 0; index < STACK_ARRAY_COUNT; index += 4)
-		{  // do four dot products at a time. Carefully avoid touching the w element.
-			float4 v0 = vertices[0];
-			float4 v1 = vertices[1];
-			float4 v2 = vertices[2];
-			float4 v3 = vertices[3];
-			vertices += 4;
-
-			float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index] = x;
-			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 1] = x;
-			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 2] = x;
-			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 3] = x;
-			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-
-			// It is too costly to keep the index of the max here. We will look for it again later.  We save a lot of work this way.
-		}
-
-		// If we found a new max
-		if (0xf != _mm_movemask_ps((float4)_mm_cmpeq_ps(max, dotMax)))
-		{
-			// copy the new max across all lanes of our max accumulator
-			max = _mm_max_ps(max, (float4)_mm_shuffle_ps(max, max, 0x4e));
-			max = _mm_max_ps(max, (float4)_mm_shuffle_ps(max, max, 0xb1));
-
-			dotMax = max;
-
-			// find first occurrence of that max
-			size_t test;
-			for (index = 0; 0 == (test = _mm_movemask_ps(_mm_cmpeq_ps(stack_array[index], max))); index++)  // local_count must be a multiple of 4
-			{
-			}
-			// record where it is.
-			maxIndex = 4 * index + segment + indexTable[test];
-		}
-	}
-
-	// account for work we've already done
-	count -= segment;
-
-	// Deal with the last < STACK_ARRAY_COUNT vectors
-	max = dotMax;
-	index = 0;
-
-	if (btUnlikely(count > 16))
-	{
-		for (; index + 4 <= count / 4; index += 4)
-		{  // do four dot products at a time. Carefully avoid touching the w element.
-			float4 v0 = vertices[0];
-			float4 v1 = vertices[1];
-			float4 v2 = vertices[2];
-			float4 v3 = vertices[3];
-			vertices += 4;
-
-			float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index] = x;
-			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 1] = x;
-			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 2] = x;
-			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 3] = x;
-			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-
-			// It is too costly to keep the index of the max here. We will look for it again later.  We save a lot of work this way.
-		}
-	}
-
-	size_t localCount = (count & -4L) - 4 * index;
-	if (localCount)
-	{
-#ifdef __APPLE__
-		float4 t0, t1, t2, t3, t4;
-		float4 *sap = &stack_array[index + localCount / 4];
-		vertices += localCount;  // counter the offset
-		size_t byteIndex = -(localCount) * sizeof(float);
-		//AT&T Code style assembly
-		asm volatile(
-			".align 4                                                                   \n\
-             0: movaps  %[max], %[t2]                            // move max out of the way to avoid propagating NaNs in max \n\
-          movaps  (%[vertices], %[byteIndex], 4),    %[t0]    // vertices[0]      \n\
-          movaps  16(%[vertices], %[byteIndex], 4),  %[t1]    // vertices[1]      \n\
-          movaps  %[t0], %[max]                               // vertices[0]      \n\
-          movlhps %[t1], %[max]                               // x0y0x1y1         \n\
-         movaps  32(%[vertices], %[byteIndex], 4),  %[t3]    // vertices[2]      \n\
-         movaps  48(%[vertices], %[byteIndex], 4),  %[t4]    // vertices[3]      \n\
-          mulps   %[vLo], %[max]                              // x0y0x1y1 * vLo   \n\
-         movhlps %[t0], %[t1]                                // z0w0z1w1         \n\
-         movaps  %[t3], %[t0]                                // vertices[2]      \n\
-         movlhps %[t4], %[t0]                                // x2y2x3y3         \n\
-         mulps   %[vLo], %[t0]                               // x2y2x3y3 * vLo   \n\
-          movhlps %[t3], %[t4]                                // z2w2z3w3         \n\
-          shufps  $0x88, %[t4], %[t1]                         // z0z1z2z3         \n\
-          mulps   %[vHi], %[t1]                               // z0z1z2z3 * vHi   \n\
-         movaps  %[max], %[t3]                               // x0y0x1y1 * vLo   \n\
-         shufps  $0x88, %[t0], %[max]                        // x0x1x2x3 * vLo.x \n\
-         shufps  $0xdd, %[t0], %[t3]                         // y0y1y2y3 * vLo.y \n\
-         addps   %[t3], %[max]                               // x + y            \n\
-         addps   %[t1], %[max]                               // x + y + z        \n\
-         movaps  %[max], (%[sap], %[byteIndex])              // record result for later scrutiny \n\
-         maxps   %[t2], %[max]                               // record max, restore max   \n\
-         add     $16, %[byteIndex]                           // advance loop counter\n\
-         jnz     0b                                          \n\
-     "
-			: [max] "+x"(max), [t0] "=&x"(t0), [t1] "=&x"(t1), [t2] "=&x"(t2), [t3] "=&x"(t3), [t4] "=&x"(t4), [byteIndex] "+r"(byteIndex)
-			: [vLo] "x"(vLo), [vHi] "x"(vHi), [vertices] "r"(vertices), [sap] "r"(sap)
-			: "memory", "cc");
-		index += localCount / 4;
-#else
-		{
-			for (unsigned int i = 0; i < localCount / 4; i++, index++)
-			{  // do four dot products at a time. Carefully avoid touching the w element.
-				float4 v0 = vertices[0];
-				float4 v1 = vertices[1];
-				float4 v2 = vertices[2];
-				float4 v3 = vertices[3];
-				vertices += 4;
-
-				float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-				float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-				float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-				float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-				lo0 = lo0 * vLo;
-				lo1 = lo1 * vLo;
-				float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-				float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-				float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-				z = z * vHi;
-				x = x + y;
-				x = x + z;
-				stack_array[index] = x;
-				max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-			}
-		}
-#endif  //__APPLE__
-	}
-
-	// process the last few points
-	if (count & 3)
-	{
-		float4 v0, v1, v2, x, y, z;
-		switch (count & 3)
-		{
-			case 3:
-			{
-				v0 = vertices[0];
-				v1 = vertices[1];
-				v2 = vertices[2];
-
-				// Calculate 3 dot products, transpose, duplicate v2
-				float4 lo0 = _mm_movelh_ps(v0, v1);  // xyxy.lo
-				float4 hi0 = _mm_movehl_ps(v1, v0);  // z?z?.lo
-				lo0 = lo0 * vLo;
-				z = _mm_shuffle_ps(hi0, v2, 0xa8);  // z0z1z2z2
-				z = z * vHi;
-				float4 lo1 = _mm_movelh_ps(v2, v2);  // xyxy
-				lo1 = lo1 * vLo;
-				x = _mm_shuffle_ps(lo0, lo1, 0x88);
-				y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			}
-			break;
-			case 2:
-			{
-				v0 = vertices[0];
-				v1 = vertices[1];
-				float4 xy = _mm_movelh_ps(v0, v1);
-				z = _mm_movehl_ps(v1, v0);
-				xy = xy * vLo;
-				z = _mm_shuffle_ps(z, z, 0xa8);
-				x = _mm_shuffle_ps(xy, xy, 0xa8);
-				y = _mm_shuffle_ps(xy, xy, 0xfd);
-				z = z * vHi;
-			}
-			break;
-			case 1:
-			{
-				float4 xy = vertices[0];
-				z = _mm_shuffle_ps(xy, xy, 0xaa);
-				xy = xy * vLo;
-				z = z * vHi;
-				x = _mm_shuffle_ps(xy, xy, 0);
-				y = _mm_shuffle_ps(xy, xy, 0x55);
-			}
-			break;
-		}
-		x = x + y;
-		x = x + z;
-		stack_array[index] = x;
-		max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
-		index++;
-	}
-
-	// if we found a new max.
-	if (0 == segment || 0xf != _mm_movemask_ps((float4)_mm_cmpeq_ps(max, dotMax)))
-	{  // we found a new max. Search for it
-		// find max across the max vector, place in all elements of max -- big latency hit here
-		max = _mm_max_ps(max, (float4)_mm_shuffle_ps(max, max, 0x4e));
-		max = _mm_max_ps(max, (float4)_mm_shuffle_ps(max, max, 0xb1));
-
-		// It is slightly faster to do this part in scalar code when count < 8. However, the common case for
-		// this where it actually makes a difference is handled in the early out at the top of the function,
-		// so it is less than a 1% difference here. I opted for improved code size, fewer branches and reduced
-		// complexity, and removed it.
-
-		dotMax = max;
-
-		// scan for the first occurence of max in the array
-		size_t test;
-		for (index = 0; 0 == (test = _mm_movemask_ps(_mm_cmpeq_ps(stack_array[index], max))); index++)  // local_count must be a multiple of 4
-		{
-		}
-		maxIndex = 4 * index + segment + indexTable[test];
-	}
-
-	_mm_store_ss(dotResult, dotMax);
-	return maxIndex;
-}
-
-long _mindot_large(const float *vv, const float *vec, unsigned long count, float *dotResult);
-
-long _mindot_large(const float *vv, const float *vec, unsigned long count, float *dotResult)
-{
-	const float4 *vertices = (const float4 *)vv;
-	static const unsigned char indexTable[16] = {(unsigned char)-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0};
-	float4 dotmin = btAssign128(BT_INFINITY, BT_INFINITY, BT_INFINITY, BT_INFINITY);
-	float4 vvec = _mm_loadu_ps(vec);
-	float4 vHi = btCastiTo128f(_mm_shuffle_epi32(btCastfTo128i(vvec), 0xaa));  /// zzzz
-	float4 vLo = _mm_movelh_ps(vvec, vvec);                                    /// xyxy
-
-	long minIndex = -1L;
-
-	size_t segment = 0;
-	float4 stack_array[STACK_ARRAY_COUNT];
-
-#if DEBUG
-	//memset( stack_array, -1, STACK_ARRAY_COUNT * sizeof(stack_array[0]) );
-#endif
-
-	size_t index;
-	float4 min;
-	// Faster loop without cleanup code for full tiles
-	for (segment = 0; segment + STACK_ARRAY_COUNT * 4 <= count; segment += STACK_ARRAY_COUNT * 4)
-	{
-		min = dotmin;
-
-		for (index = 0; index < STACK_ARRAY_COUNT; index += 4)
-		{  // do four dot products at a time. Carefully avoid touching the w element.
-			float4 v0 = vertices[0];
-			float4 v1 = vertices[1];
-			float4 v2 = vertices[2];
-			float4 v3 = vertices[3];
-			vertices += 4;
-
-			float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index] = x;
-			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 1] = x;
-			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 2] = x;
-			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 3] = x;
-			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
-
-			// It is too costly to keep the index of the min here. We will look for it again later.  We save a lot of work this way.
-		}
-
-		// If we found a new min
-		if (0xf != _mm_movemask_ps((float4)_mm_cmpeq_ps(min, dotmin)))
-		{
-			// copy the new min across all lanes of our min accumulator
-			min = _mm_min_ps(min, (float4)_mm_shuffle_ps(min, min, 0x4e));
-			min = _mm_min_ps(min, (float4)_mm_shuffle_ps(min, min, 0xb1));
-
-			dotmin = min;
-
-			// find first occurrence of that min
-			size_t test;
-			for (index = 0; 0 == (test = _mm_movemask_ps(_mm_cmpeq_ps(stack_array[index], min))); index++)  // local_count must be a multiple of 4
-			{
-			}
-			// record where it is.
-			minIndex = 4 * index + segment + indexTable[test];
-		}
-	}
-
-	// account for work we've already done
-	count -= segment;
-
-	// Deal with the last < STACK_ARRAY_COUNT vectors
-	min = dotmin;
-	index = 0;
-
-	if (btUnlikely(count > 16))
-	{
-		for (; index + 4 <= count / 4; index += 4)
-		{  // do four dot products at a time. Carefully avoid touching the w element.
-			float4 v0 = vertices[0];
-			float4 v1 = vertices[1];
-			float4 v2 = vertices[2];
-			float4 v3 = vertices[3];
-			vertices += 4;
-
-			float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index] = x;
-			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 1] = x;
-			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 2] = x;
-			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
-
-			v0 = vertices[0];
-			v1 = vertices[1];
-			v2 = vertices[2];
-			v3 = vertices[3];
-			vertices += 4;
-
-			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-			lo0 = lo0 * vLo;
-			lo1 = lo1 * vLo;
-			z = _mm_shuffle_ps(hi0, hi1, 0x88);
-			x = _mm_shuffle_ps(lo0, lo1, 0x88);
-			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			z = z * vHi;
-			x = x + y;
-			x = x + z;
-			stack_array[index + 3] = x;
-			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
-
-			// It is too costly to keep the index of the min here. We will look for it again later.  We save a lot of work this way.
-		}
-	}
-
-	size_t localCount = (count & -4L) - 4 * index;
-	if (localCount)
-	{
-#ifdef __APPLE__
-		vertices += localCount;  // counter the offset
-		float4 t0, t1, t2, t3, t4;
-		size_t byteIndex = -(localCount) * sizeof(float);
-		float4 *sap = &stack_array[index + localCount / 4];
-
-		asm volatile(
-			".align 4                                                                   \n\
-             0: movaps  %[min], %[t2]                            // move min out of the way to avoid propagating NaNs in min \n\
-             movaps  (%[vertices], %[byteIndex], 4),    %[t0]    // vertices[0]      \n\
-             movaps  16(%[vertices], %[byteIndex], 4),  %[t1]    // vertices[1]      \n\
-             movaps  %[t0], %[min]                               // vertices[0]      \n\
-             movlhps %[t1], %[min]                               // x0y0x1y1         \n\
-             movaps  32(%[vertices], %[byteIndex], 4),  %[t3]    // vertices[2]      \n\
-             movaps  48(%[vertices], %[byteIndex], 4),  %[t4]    // vertices[3]      \n\
-             mulps   %[vLo], %[min]                              // x0y0x1y1 * vLo   \n\
-             movhlps %[t0], %[t1]                                // z0w0z1w1         \n\
-             movaps  %[t3], %[t0]                                // vertices[2]      \n\
-             movlhps %[t4], %[t0]                                // x2y2x3y3         \n\
-             movhlps %[t3], %[t4]                                // z2w2z3w3         \n\
-             mulps   %[vLo], %[t0]                               // x2y2x3y3 * vLo   \n\
-             shufps  $0x88, %[t4], %[t1]                         // z0z1z2z3         \n\
-             mulps   %[vHi], %[t1]                               // z0z1z2z3 * vHi   \n\
-             movaps  %[min], %[t3]                               // x0y0x1y1 * vLo   \n\
-             shufps  $0x88, %[t0], %[min]                        // x0x1x2x3 * vLo.x \n\
-             shufps  $0xdd, %[t0], %[t3]                         // y0y1y2y3 * vLo.y \n\
-             addps   %[t3], %[min]                               // x + y            \n\
-             addps   %[t1], %[min]                               // x + y + z        \n\
-             movaps  %[min], (%[sap], %[byteIndex])              // record result for later scrutiny \n\
-             minps   %[t2], %[min]                               // record min, restore min   \n\
-             add     $16, %[byteIndex]                           // advance loop counter\n\
-             jnz     0b                                          \n\
-             "
-			: [min] "+x"(min), [t0] "=&x"(t0), [t1] "=&x"(t1), [t2] "=&x"(t2), [t3] "=&x"(t3), [t4] "=&x"(t4), [byteIndex] "+r"(byteIndex)
-			: [vLo] "x"(vLo), [vHi] "x"(vHi), [vertices] "r"(vertices), [sap] "r"(sap)
-			: "memory", "cc");
-		index += localCount / 4;
-#else
-		{
-			for (unsigned int i = 0; i < localCount / 4; i++, index++)
-			{  // do four dot products at a time. Carefully avoid touching the w element.
-				float4 v0 = vertices[0];
-				float4 v1 = vertices[1];
-				float4 v2 = vertices[2];
-				float4 v3 = vertices[3];
-				vertices += 4;
-
-				float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
-				float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
-				float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
-				float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
-
-				lo0 = lo0 * vLo;
-				lo1 = lo1 * vLo;
-				float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-				float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-				float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-				z = z * vHi;
-				x = x + y;
-				x = x + z;
-				stack_array[index] = x;
-				min = _mm_min_ps(x, min);  // control the order here so that max is never NaN even if x is nan
-			}
-		}
-
-#endif
-	}
-
-	// process the last few points
-	if (count & 3)
-	{
-		float4 v0, v1, v2, x, y, z;
-		switch (count & 3)
-		{
-			case 3:
-			{
-				v0 = vertices[0];
-				v1 = vertices[1];
-				v2 = vertices[2];
-
-				// Calculate 3 dot products, transpose, duplicate v2
-				float4 lo0 = _mm_movelh_ps(v0, v1);  // xyxy.lo
-				float4 hi0 = _mm_movehl_ps(v1, v0);  // z?z?.lo
-				lo0 = lo0 * vLo;
-				z = _mm_shuffle_ps(hi0, v2, 0xa8);  // z0z1z2z2
-				z = z * vHi;
-				float4 lo1 = _mm_movelh_ps(v2, v2);  // xyxy
-				lo1 = lo1 * vLo;
-				x = _mm_shuffle_ps(lo0, lo1, 0x88);
-				y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-			}
-			break;
-			case 2:
-			{
-				v0 = vertices[0];
-				v1 = vertices[1];
-				float4 xy = _mm_movelh_ps(v0, v1);
-				z = _mm_movehl_ps(v1, v0);
-				xy = xy * vLo;
-				z = _mm_shuffle_ps(z, z, 0xa8);
-				x = _mm_shuffle_ps(xy, xy, 0xa8);
-				y = _mm_shuffle_ps(xy, xy, 0xfd);
-				z = z * vHi;
-			}
-			break;
-			case 1:
-			{
-				float4 xy = vertices[0];
-				z = _mm_shuffle_ps(xy, xy, 0xaa);
-				xy = xy * vLo;
-				z = z * vHi;
-				x = _mm_shuffle_ps(xy, xy, 0);
-				y = _mm_shuffle_ps(xy, xy, 0x55);
-			}
-			break;
-		}
-		x = x + y;
-		x = x + z;
-		stack_array[index] = x;
-		min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
-		index++;
-	}
-
-	// if we found a new min.
-	if (0 == segment || 0xf != _mm_movemask_ps((float4)_mm_cmpeq_ps(min, dotmin)))
-	{  // we found a new min. Search for it
-		// find min across the min vector, place in all elements of min -- big latency hit here
-		min = _mm_min_ps(min, (float4)_mm_shuffle_ps(min, min, 0x4e));
-		min = _mm_min_ps(min, (float4)_mm_shuffle_ps(min, min, 0xb1));
-
-		// It is slightly faster to do this part in scalar code when count < 8. However, the common case for
-		// this where it actually makes a difference is handled in the early out at the top of the function,
-		// so it is less than a 1% difference here. I opted for improved code size, fewer branches and reduced
-		// complexity, and removed it.
-
-		dotmin = min;
-
-		// scan for the first occurence of min in the array
-		size_t test;
-		for (index = 0; 0 == (test = _mm_movemask_ps(_mm_cmpeq_ps(stack_array[index], min))); index++)  // local_count must be a multiple of 4
-		{
-		}
-		minIndex = 4 * index + segment + indexTable[test];
-	}
-
-	_mm_store_ss(dotResult, dotmin);
-	return minIndex;
-}
-
-#elif defined BT_USE_NEON
-
-#define ARM_NEON_GCC_COMPATIBILITY 1
-#include <arm_neon.h>
-#include <sys/types.h>
-#include <sys/sysctl.h>  //for sysctlbyname
-
-static long _maxdot_large_v0(const float *vv, const float *vec, unsigned long count, float *dotResult);
-static long _maxdot_large_v1(const float *vv, const float *vec, unsigned long count, float *dotResult);
-static long _maxdot_large_sel(const float *vv, const float *vec, unsigned long count, float *dotResult);
-static long _mindot_large_v0(const float *vv, const float *vec, unsigned long count, float *dotResult);
-static long _mindot_large_v1(const float *vv, const float *vec, unsigned long count, float *dotResult);
-static long _mindot_large_sel(const float *vv, const float *vec, unsigned long count, float *dotResult);
-
-long (*_maxdot_large)(const float *vv, const float *vec, unsigned long count, float *dotResult) = _maxdot_large_sel;
-long (*_mindot_large)(const float *vv, const float *vec, unsigned long count, float *dotResult) = _mindot_large_sel;
-
-static inline uint32_t btGetCpuCapabilities(void)
-{
-	static uint32_t capabilities = 0;
-	static bool testedCapabilities = false;
-
-	if (0 == testedCapabilities)
-	{
-		uint32_t hasFeature = 0;
-		size_t featureSize = sizeof(hasFeature);
-		int err = sysctlbyname("hw.optional.neon_hpfp", &hasFeature, &featureSize, NULL, 0);
-
-		if (0 == err && hasFeature)
-			capabilities |= 0x2000;
-
-		testedCapabilities = true;
-	}
-
-	return capabilities;
-}
-
-static long _maxdot_large_sel(const float *vv, const float *vec, unsigned long count, float *dotResult)
-{
-	if (btGetCpuCapabilities() & 0x2000)
-		_maxdot_large = _maxdot_large_v1;
-	else
-		_maxdot_large = _maxdot_large_v0;
-
-	return _maxdot_large(vv, vec, count, dotResult);
-}
-
-static long _mindot_large_sel(const float *vv, const float *vec, unsigned long count, float *dotResult)
-{
-	if (btGetCpuCapabilities() & 0x2000)
-		_mindot_large = _mindot_large_v1;
-	else
-		_mindot_large = _mindot_large_v0;
-
-	return _mindot_large(vv, vec, count, dotResult);
-}
-
-#if defined __arm__
-#define vld1q_f32_aligned_postincrement(_ptr) ({ float32x4_t _r; asm( "vld1.f32 {%0}, [%1, :128]!\n" : "=w" (_r), "+r" (_ptr) ); /*return*/ _r; })
-#else
-//support 64bit arm
-#define vld1q_f32_aligned_postincrement(_ptr) ({ float32x4_t _r = ((float32x4_t*)(_ptr))[0]; (_ptr) = (const float*) ((const char*)(_ptr) + 16L); /*return*/ _r; })
-#endif
-
-long _maxdot_large_v0(const float *vv, const float *vec, unsigned long count, float *dotResult)
-{
-	unsigned long i = 0;
-	float32x4_t vvec = vld1q_f32_aligned_postincrement(vec);
-	float32x2_t vLo = vget_low_f32(vvec);
-	float32x2_t vHi = vdup_lane_f32(vget_high_f32(vvec), 0);
-	float32x2_t dotMaxLo = (float32x2_t){-BT_INFINITY, -BT_INFINITY};
-	float32x2_t dotMaxHi = (float32x2_t){-BT_INFINITY, -BT_INFINITY};
-	uint32x2_t indexLo = (uint32x2_t){0, 1};
-	uint32x2_t indexHi = (uint32x2_t){2, 3};
-	uint32x2_t iLo = (uint32x2_t){static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)};
-	uint32x2_t iHi = (uint32x2_t){static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)};
-	const uint32x2_t four = (uint32x2_t){4, 4};
-
-	for (; i + 8 <= count; i += 8)
-	{
-		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
-
-		float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-		float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
-		float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
-		float32x2_t xy3 = vmul_f32(vget_low_f32(v3), vLo);
-
-		float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-		float32x2x2_t z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
-		float32x2_t zLo = vmul_f32(z0.val[0], vHi);
-		float32x2_t zHi = vmul_f32(z1.val[0], vHi);
-
-		float32x2_t rLo = vpadd_f32(xy0, xy1);
-		float32x2_t rHi = vpadd_f32(xy2, xy3);
-		rLo = vadd_f32(rLo, zLo);
-		rHi = vadd_f32(rHi, zHi);
-
-		uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo);
-		uint32x2_t maskHi = vcgt_f32(rHi, dotMaxHi);
-		dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
-		dotMaxHi = vbsl_f32(maskHi, rHi, dotMaxHi);
-		iLo = vbsl_u32(maskLo, indexLo, iLo);
-		iHi = vbsl_u32(maskHi, indexHi, iHi);
-		indexLo = vadd_u32(indexLo, four);
-		indexHi = vadd_u32(indexHi, four);
-
-		v0 = vld1q_f32_aligned_postincrement(vv);
-		v1 = vld1q_f32_aligned_postincrement(vv);
-		v2 = vld1q_f32_aligned_postincrement(vv);
-		v3 = vld1q_f32_aligned_postincrement(vv);
-
-		xy0 = vmul_f32(vget_low_f32(v0), vLo);
-		xy1 = vmul_f32(vget_low_f32(v1), vLo);
-		xy2 = vmul_f32(vget_low_f32(v2), vLo);
-		xy3 = vmul_f32(vget_low_f32(v3), vLo);
-
-		z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-		z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
-		zLo = vmul_f32(z0.val[0], vHi);
-		zHi = vmul_f32(z1.val[0], vHi);
-
-		rLo = vpadd_f32(xy0, xy1);
-		rHi = vpadd_f32(xy2, xy3);
-		rLo = vadd_f32(rLo, zLo);
-		rHi = vadd_f32(rHi, zHi);
-
-		maskLo = vcgt_f32(rLo, dotMaxLo);
-		maskHi = vcgt_f32(rHi, dotMaxHi);
-		dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
-		dotMaxHi = vbsl_f32(maskHi, rHi, dotMaxHi);
-		iLo = vbsl_u32(maskLo, indexLo, iLo);
-		iHi = vbsl_u32(maskHi, indexHi, iHi);
-		indexLo = vadd_u32(indexLo, four);
-		indexHi = vadd_u32(indexHi, four);
-	}
-
-	for (; i + 4 <= count; i += 4)
-	{
-		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
-
-		float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-		float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
-		float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
-		float32x2_t xy3 = vmul_f32(vget_low_f32(v3), vLo);
-
-		float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-		float32x2x2_t z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
-		float32x2_t zLo = vmul_f32(z0.val[0], vHi);
-		float32x2_t zHi = vmul_f32(z1.val[0], vHi);
-
-		float32x2_t rLo = vpadd_f32(xy0, xy1);
-		float32x2_t rHi = vpadd_f32(xy2, xy3);
-		rLo = vadd_f32(rLo, zLo);
-		rHi = vadd_f32(rHi, zHi);
-
-		uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo);
-		uint32x2_t maskHi = vcgt_f32(rHi, dotMaxHi);
-		dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
-		dotMaxHi = vbsl_f32(maskHi, rHi, dotMaxHi);
-		iLo = vbsl_u32(maskLo, indexLo, iLo);
-		iHi = vbsl_u32(maskHi, indexHi, iHi);
-		indexLo = vadd_u32(indexLo, four);
-		indexHi = vadd_u32(indexHi, four);
-	}
-
-	switch (count & 3)
-	{
-		case 3:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-
-			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-			float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
-			float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
-
-			float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-			float32x2_t zLo = vmul_f32(z0.val[0], vHi);
-			float32x2_t zHi = vmul_f32(vdup_lane_f32(vget_high_f32(v2), 0), vHi);
-
-			float32x2_t rLo = vpadd_f32(xy0, xy1);
-			float32x2_t rHi = vpadd_f32(xy2, xy2);
-			rLo = vadd_f32(rLo, zLo);
-			rHi = vadd_f32(rHi, zHi);
-
-			uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo);
-			uint32x2_t maskHi = vcgt_f32(rHi, dotMaxHi);
-			dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
-			dotMaxHi = vbsl_f32(maskHi, rHi, dotMaxHi);
-			iLo = vbsl_u32(maskLo, indexLo, iLo);
-			iHi = vbsl_u32(maskHi, indexHi, iHi);
-		}
-		break;
-		case 2:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-
-			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-			float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
-
-			float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-			float32x2_t zLo = vmul_f32(z0.val[0], vHi);
-
-			float32x2_t rLo = vpadd_f32(xy0, xy1);
-			rLo = vadd_f32(rLo, zLo);
-
-			uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo);
-			dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
-			iLo = vbsl_u32(maskLo, indexLo, iLo);
-		}
-		break;
-		case 1:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-			float32x2_t z0 = vdup_lane_f32(vget_high_f32(v0), 0);
-			float32x2_t zLo = vmul_f32(z0, vHi);
-			float32x2_t rLo = vpadd_f32(xy0, xy0);
-			rLo = vadd_f32(rLo, zLo);
-			uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo);
-			dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
-			iLo = vbsl_u32(maskLo, indexLo, iLo);
-		}
-		break;
-
-		default:
-			break;
-	}
-
-	// select best answer between hi and lo results
-	uint32x2_t mask = vcgt_f32(dotMaxHi, dotMaxLo);
-	dotMaxLo = vbsl_f32(mask, dotMaxHi, dotMaxLo);
-	iLo = vbsl_u32(mask, iHi, iLo);
-
-	// select best answer between even and odd results
-	dotMaxHi = vdup_lane_f32(dotMaxLo, 1);
-	iHi = vdup_lane_u32(iLo, 1);
-	mask = vcgt_f32(dotMaxHi, dotMaxLo);
-	dotMaxLo = vbsl_f32(mask, dotMaxHi, dotMaxLo);
-	iLo = vbsl_u32(mask, iHi, iLo);
-
-	*dotResult = vget_lane_f32(dotMaxLo, 0);
-	return vget_lane_u32(iLo, 0);
-}
-
-long _maxdot_large_v1(const float *vv, const float *vec, unsigned long count, float *dotResult)
-{
-	float32x4_t vvec = vld1q_f32_aligned_postincrement(vec);
-	float32x4_t vLo = vcombine_f32(vget_low_f32(vvec), vget_low_f32(vvec));
-	float32x4_t vHi = vdupq_lane_f32(vget_high_f32(vvec), 0);
-	const uint32x4_t four = (uint32x4_t){4, 4, 4, 4};
-	uint32x4_t local_index = (uint32x4_t){0, 1, 2, 3};
-	uint32x4_t index = (uint32x4_t){static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)};
-	float32x4_t maxDot = (float32x4_t){-BT_INFINITY, -BT_INFINITY, -BT_INFINITY, -BT_INFINITY};
-
-	unsigned long i = 0;
-	for (; i + 8 <= count; i += 8)
-	{
-		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
-
-		// the next two lines should resolve to a single vswp d, d
-		float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-		float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
-		// the next two lines should resolve to a single vswp d, d
-		float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-		float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
-
-		xy0 = vmulq_f32(xy0, vLo);
-		xy1 = vmulq_f32(xy1, vLo);
-
-		float32x4x2_t zb = vuzpq_f32(z0, z1);
-		float32x4_t z = vmulq_f32(zb.val[0], vHi);
-		float32x4x2_t xy = vuzpq_f32(xy0, xy1);
-		float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-		x = vaddq_f32(x, z);
-
-		uint32x4_t mask = vcgtq_f32(x, maxDot);
-		maxDot = vbslq_f32(mask, x, maxDot);
-		index = vbslq_u32(mask, local_index, index);
-		local_index = vaddq_u32(local_index, four);
-
-		v0 = vld1q_f32_aligned_postincrement(vv);
-		v1 = vld1q_f32_aligned_postincrement(vv);
-		v2 = vld1q_f32_aligned_postincrement(vv);
-		v3 = vld1q_f32_aligned_postincrement(vv);
-
-		// the next two lines should resolve to a single vswp d, d
-		xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-		xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
-		// the next two lines should resolve to a single vswp d, d
-		z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-		z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
-
-		xy0 = vmulq_f32(xy0, vLo);
-		xy1 = vmulq_f32(xy1, vLo);
-
-		zb = vuzpq_f32(z0, z1);
-		z = vmulq_f32(zb.val[0], vHi);
-		xy = vuzpq_f32(xy0, xy1);
-		x = vaddq_f32(xy.val[0], xy.val[1]);
-		x = vaddq_f32(x, z);
-
-		mask = vcgtq_f32(x, maxDot);
-		maxDot = vbslq_f32(mask, x, maxDot);
-		index = vbslq_u32(mask, local_index, index);
-		local_index = vaddq_u32(local_index, four);
-	}
-
-	for (; i + 4 <= count; i += 4)
-	{
-		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
-
-		// the next two lines should resolve to a single vswp d, d
-		float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-		float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
-		// the next two lines should resolve to a single vswp d, d
-		float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-		float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
-
-		xy0 = vmulq_f32(xy0, vLo);
-		xy1 = vmulq_f32(xy1, vLo);
-
-		float32x4x2_t zb = vuzpq_f32(z0, z1);
-		float32x4_t z = vmulq_f32(zb.val[0], vHi);
-		float32x4x2_t xy = vuzpq_f32(xy0, xy1);
-		float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-		x = vaddq_f32(x, z);
-
-		uint32x4_t mask = vcgtq_f32(x, maxDot);
-		maxDot = vbslq_f32(mask, x, maxDot);
-		index = vbslq_u32(mask, local_index, index);
-		local_index = vaddq_u32(local_index, four);
-	}
-
-	switch (count & 3)
-	{
-		case 3:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-			float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v2));
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-			float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v2));
-
-			xy0 = vmulq_f32(xy0, vLo);
-			xy1 = vmulq_f32(xy1, vLo);
-
-			float32x4x2_t zb = vuzpq_f32(z0, z1);
-			float32x4_t z = vmulq_f32(zb.val[0], vHi);
-			float32x4x2_t xy = vuzpq_f32(xy0, xy1);
-			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-			x = vaddq_f32(x, z);
-
-			uint32x4_t mask = vcgtq_f32(x, maxDot);
-			maxDot = vbslq_f32(mask, x, maxDot);
-			index = vbslq_u32(mask, local_index, index);
-			local_index = vaddq_u32(local_index, four);
-		}
-		break;
-
-		case 2:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-
-			xy0 = vmulq_f32(xy0, vLo);
-
-			float32x4x2_t zb = vuzpq_f32(z0, z0);
-			float32x4_t z = vmulq_f32(zb.val[0], vHi);
-			float32x4x2_t xy = vuzpq_f32(xy0, xy0);
-			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-			x = vaddq_f32(x, z);
-
-			uint32x4_t mask = vcgtq_f32(x, maxDot);
-			maxDot = vbslq_f32(mask, x, maxDot);
-			index = vbslq_u32(mask, local_index, index);
-			local_index = vaddq_u32(local_index, four);
-		}
-		break;
-
-		case 1:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v0));
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t z = vdupq_lane_f32(vget_high_f32(v0), 0);
-
-			xy0 = vmulq_f32(xy0, vLo);
-
-			z = vmulq_f32(z, vHi);
-			float32x4x2_t xy = vuzpq_f32(xy0, xy0);
-			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-			x = vaddq_f32(x, z);
-
-			uint32x4_t mask = vcgtq_f32(x, maxDot);
-			maxDot = vbslq_f32(mask, x, maxDot);
-			index = vbslq_u32(mask, local_index, index);
-			local_index = vaddq_u32(local_index, four);
-		}
-		break;
-
-		default:
-			break;
-	}
-
-	// select best answer between hi and lo results
-	uint32x2_t mask = vcgt_f32(vget_high_f32(maxDot), vget_low_f32(maxDot));
-	float32x2_t maxDot2 = vbsl_f32(mask, vget_high_f32(maxDot), vget_low_f32(maxDot));
-	uint32x2_t index2 = vbsl_u32(mask, vget_high_u32(index), vget_low_u32(index));
-
-	// select best answer between even and odd results
-	float32x2_t maxDotO = vdup_lane_f32(maxDot2, 1);
-	uint32x2_t indexHi = vdup_lane_u32(index2, 1);
-	mask = vcgt_f32(maxDotO, maxDot2);
-	maxDot2 = vbsl_f32(mask, maxDotO, maxDot2);
-	index2 = vbsl_u32(mask, indexHi, index2);
-
-	*dotResult = vget_lane_f32(maxDot2, 0);
-	return vget_lane_u32(index2, 0);
-}
-
-long _mindot_large_v0(const float *vv, const float *vec, unsigned long count, float *dotResult)
-{
-	unsigned long i = 0;
-	float32x4_t vvec = vld1q_f32_aligned_postincrement(vec);
-	float32x2_t vLo = vget_low_f32(vvec);
-	float32x2_t vHi = vdup_lane_f32(vget_high_f32(vvec), 0);
-	float32x2_t dotMinLo = (float32x2_t){BT_INFINITY, BT_INFINITY};
-	float32x2_t dotMinHi = (float32x2_t){BT_INFINITY, BT_INFINITY};
-	uint32x2_t indexLo = (uint32x2_t){0, 1};
-	uint32x2_t indexHi = (uint32x2_t){2, 3};
-	uint32x2_t iLo = (uint32x2_t){static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)};
-	uint32x2_t iHi = (uint32x2_t){static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)};
-	const uint32x2_t four = (uint32x2_t){4, 4};
-
-	for (; i + 8 <= count; i += 8)
-	{
-		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
-
-		float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-		float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
-		float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
-		float32x2_t xy3 = vmul_f32(vget_low_f32(v3), vLo);
-
-		float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-		float32x2x2_t z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
-		float32x2_t zLo = vmul_f32(z0.val[0], vHi);
-		float32x2_t zHi = vmul_f32(z1.val[0], vHi);
-
-		float32x2_t rLo = vpadd_f32(xy0, xy1);
-		float32x2_t rHi = vpadd_f32(xy2, xy3);
-		rLo = vadd_f32(rLo, zLo);
-		rHi = vadd_f32(rHi, zHi);
-
-		uint32x2_t maskLo = vclt_f32(rLo, dotMinLo);
-		uint32x2_t maskHi = vclt_f32(rHi, dotMinHi);
-		dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
-		dotMinHi = vbsl_f32(maskHi, rHi, dotMinHi);
-		iLo = vbsl_u32(maskLo, indexLo, iLo);
-		iHi = vbsl_u32(maskHi, indexHi, iHi);
-		indexLo = vadd_u32(indexLo, four);
-		indexHi = vadd_u32(indexHi, four);
-
-		v0 = vld1q_f32_aligned_postincrement(vv);
-		v1 = vld1q_f32_aligned_postincrement(vv);
-		v2 = vld1q_f32_aligned_postincrement(vv);
-		v3 = vld1q_f32_aligned_postincrement(vv);
-
-		xy0 = vmul_f32(vget_low_f32(v0), vLo);
-		xy1 = vmul_f32(vget_low_f32(v1), vLo);
-		xy2 = vmul_f32(vget_low_f32(v2), vLo);
-		xy3 = vmul_f32(vget_low_f32(v3), vLo);
-
-		z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-		z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
-		zLo = vmul_f32(z0.val[0], vHi);
-		zHi = vmul_f32(z1.val[0], vHi);
-
-		rLo = vpadd_f32(xy0, xy1);
-		rHi = vpadd_f32(xy2, xy3);
-		rLo = vadd_f32(rLo, zLo);
-		rHi = vadd_f32(rHi, zHi);
-
-		maskLo = vclt_f32(rLo, dotMinLo);
-		maskHi = vclt_f32(rHi, dotMinHi);
-		dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
-		dotMinHi = vbsl_f32(maskHi, rHi, dotMinHi);
-		iLo = vbsl_u32(maskLo, indexLo, iLo);
-		iHi = vbsl_u32(maskHi, indexHi, iHi);
-		indexLo = vadd_u32(indexLo, four);
-		indexHi = vadd_u32(indexHi, four);
-	}
-
-	for (; i + 4 <= count; i += 4)
-	{
-		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
-
-		float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-		float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
-		float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
-		float32x2_t xy3 = vmul_f32(vget_low_f32(v3), vLo);
-
-		float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-		float32x2x2_t z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
-		float32x2_t zLo = vmul_f32(z0.val[0], vHi);
-		float32x2_t zHi = vmul_f32(z1.val[0], vHi);
-
-		float32x2_t rLo = vpadd_f32(xy0, xy1);
-		float32x2_t rHi = vpadd_f32(xy2, xy3);
-		rLo = vadd_f32(rLo, zLo);
-		rHi = vadd_f32(rHi, zHi);
-
-		uint32x2_t maskLo = vclt_f32(rLo, dotMinLo);
-		uint32x2_t maskHi = vclt_f32(rHi, dotMinHi);
-		dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
-		dotMinHi = vbsl_f32(maskHi, rHi, dotMinHi);
-		iLo = vbsl_u32(maskLo, indexLo, iLo);
-		iHi = vbsl_u32(maskHi, indexHi, iHi);
-		indexLo = vadd_u32(indexLo, four);
-		indexHi = vadd_u32(indexHi, four);
-	}
-	switch (count & 3)
-	{
-		case 3:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-
-			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-			float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
-			float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
-
-			float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-			float32x2_t zLo = vmul_f32(z0.val[0], vHi);
-			float32x2_t zHi = vmul_f32(vdup_lane_f32(vget_high_f32(v2), 0), vHi);
-
-			float32x2_t rLo = vpadd_f32(xy0, xy1);
-			float32x2_t rHi = vpadd_f32(xy2, xy2);
-			rLo = vadd_f32(rLo, zLo);
-			rHi = vadd_f32(rHi, zHi);
-
-			uint32x2_t maskLo = vclt_f32(rLo, dotMinLo);
-			uint32x2_t maskHi = vclt_f32(rHi, dotMinHi);
-			dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
-			dotMinHi = vbsl_f32(maskHi, rHi, dotMinHi);
-			iLo = vbsl_u32(maskLo, indexLo, iLo);
-			iHi = vbsl_u32(maskHi, indexHi, iHi);
-		}
-		break;
-		case 2:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-
-			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-			float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
-
-			float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
-			float32x2_t zLo = vmul_f32(z0.val[0], vHi);
-
-			float32x2_t rLo = vpadd_f32(xy0, xy1);
-			rLo = vadd_f32(rLo, zLo);
-
-			uint32x2_t maskLo = vclt_f32(rLo, dotMinLo);
-			dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
-			iLo = vbsl_u32(maskLo, indexLo, iLo);
-		}
-		break;
-		case 1:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
-			float32x2_t z0 = vdup_lane_f32(vget_high_f32(v0), 0);
-			float32x2_t zLo = vmul_f32(z0, vHi);
-			float32x2_t rLo = vpadd_f32(xy0, xy0);
-			rLo = vadd_f32(rLo, zLo);
-			uint32x2_t maskLo = vclt_f32(rLo, dotMinLo);
-			dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
-			iLo = vbsl_u32(maskLo, indexLo, iLo);
-		}
-		break;
-
-		default:
-			break;
-	}
-
-	// select best answer between hi and lo results
-	uint32x2_t mask = vclt_f32(dotMinHi, dotMinLo);
-	dotMinLo = vbsl_f32(mask, dotMinHi, dotMinLo);
-	iLo = vbsl_u32(mask, iHi, iLo);
-
-	// select best answer between even and odd results
-	dotMinHi = vdup_lane_f32(dotMinLo, 1);
-	iHi = vdup_lane_u32(iLo, 1);
-	mask = vclt_f32(dotMinHi, dotMinLo);
-	dotMinLo = vbsl_f32(mask, dotMinHi, dotMinLo);
-	iLo = vbsl_u32(mask, iHi, iLo);
-
-	*dotResult = vget_lane_f32(dotMinLo, 0);
-	return vget_lane_u32(iLo, 0);
-}
-
-long _mindot_large_v1(const float *vv, const float *vec, unsigned long count, float *dotResult)
-{
-	float32x4_t vvec = vld1q_f32_aligned_postincrement(vec);
-	float32x4_t vLo = vcombine_f32(vget_low_f32(vvec), vget_low_f32(vvec));
-	float32x4_t vHi = vdupq_lane_f32(vget_high_f32(vvec), 0);
-	const uint32x4_t four = (uint32x4_t){4, 4, 4, 4};
-	uint32x4_t local_index = (uint32x4_t){0, 1, 2, 3};
-	uint32x4_t index = (uint32x4_t){static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)};
-	float32x4_t minDot = (float32x4_t){BT_INFINITY, BT_INFINITY, BT_INFINITY, BT_INFINITY};
-
-	unsigned long i = 0;
-	for (; i + 8 <= count; i += 8)
-	{
-		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
-
-		// the next two lines should resolve to a single vswp d, d
-		float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-		float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
-		// the next two lines should resolve to a single vswp d, d
-		float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-		float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
-
-		xy0 = vmulq_f32(xy0, vLo);
-		xy1 = vmulq_f32(xy1, vLo);
-
-		float32x4x2_t zb = vuzpq_f32(z0, z1);
-		float32x4_t z = vmulq_f32(zb.val[0], vHi);
-		float32x4x2_t xy = vuzpq_f32(xy0, xy1);
-		float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-		x = vaddq_f32(x, z);
-
-		uint32x4_t mask = vcltq_f32(x, minDot);
-		minDot = vbslq_f32(mask, x, minDot);
-		index = vbslq_u32(mask, local_index, index);
-		local_index = vaddq_u32(local_index, four);
-
-		v0 = vld1q_f32_aligned_postincrement(vv);
-		v1 = vld1q_f32_aligned_postincrement(vv);
-		v2 = vld1q_f32_aligned_postincrement(vv);
-		v3 = vld1q_f32_aligned_postincrement(vv);
-
-		// the next two lines should resolve to a single vswp d, d
-		xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-		xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
-		// the next two lines should resolve to a single vswp d, d
-		z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-		z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
-
-		xy0 = vmulq_f32(xy0, vLo);
-		xy1 = vmulq_f32(xy1, vLo);
-
-		zb = vuzpq_f32(z0, z1);
-		z = vmulq_f32(zb.val[0], vHi);
-		xy = vuzpq_f32(xy0, xy1);
-		x = vaddq_f32(xy.val[0], xy.val[1]);
-		x = vaddq_f32(x, z);
-
-		mask = vcltq_f32(x, minDot);
-		minDot = vbslq_f32(mask, x, minDot);
-		index = vbslq_u32(mask, local_index, index);
-		local_index = vaddq_u32(local_index, four);
-	}
-
-	for (; i + 4 <= count; i += 4)
-	{
-		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
-
-		// the next two lines should resolve to a single vswp d, d
-		float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-		float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
-		// the next two lines should resolve to a single vswp d, d
-		float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-		float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
-
-		xy0 = vmulq_f32(xy0, vLo);
-		xy1 = vmulq_f32(xy1, vLo);
-
-		float32x4x2_t zb = vuzpq_f32(z0, z1);
-		float32x4_t z = vmulq_f32(zb.val[0], vHi);
-		float32x4x2_t xy = vuzpq_f32(xy0, xy1);
-		float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-		x = vaddq_f32(x, z);
-
-		uint32x4_t mask = vcltq_f32(x, minDot);
-		minDot = vbslq_f32(mask, x, minDot);
-		index = vbslq_u32(mask, local_index, index);
-		local_index = vaddq_u32(local_index, four);
-	}
-
-	switch (count & 3)
-	{
-		case 3:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
-
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-			float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v2));
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-			float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v2));
-
-			xy0 = vmulq_f32(xy0, vLo);
-			xy1 = vmulq_f32(xy1, vLo);
-
-			float32x4x2_t zb = vuzpq_f32(z0, z1);
-			float32x4_t z = vmulq_f32(zb.val[0], vHi);
-			float32x4x2_t xy = vuzpq_f32(xy0, xy1);
-			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-			x = vaddq_f32(x, z);
-
-			uint32x4_t mask = vcltq_f32(x, minDot);
-			minDot = vbslq_f32(mask, x, minDot);
-			index = vbslq_u32(mask, local_index, index);
-			local_index = vaddq_u32(local_index, four);
-		}
-		break;
-
-		case 2:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
-
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
-
-			xy0 = vmulq_f32(xy0, vLo);
-
-			float32x4x2_t zb = vuzpq_f32(z0, z0);
-			float32x4_t z = vmulq_f32(zb.val[0], vHi);
-			float32x4x2_t xy = vuzpq_f32(xy0, xy0);
-			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-			x = vaddq_f32(x, z);
-
-			uint32x4_t mask = vcltq_f32(x, minDot);
-			minDot = vbslq_f32(mask, x, minDot);
-			index = vbslq_u32(mask, local_index, index);
-			local_index = vaddq_u32(local_index, four);
-		}
-		break;
-
-		case 1:
-		{
-			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
-
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v0));
-			// the next two lines should resolve to a single vswp d, d
-			float32x4_t z = vdupq_lane_f32(vget_high_f32(v0), 0);
-
-			xy0 = vmulq_f32(xy0, vLo);
-
-			z = vmulq_f32(z, vHi);
-			float32x4x2_t xy = vuzpq_f32(xy0, xy0);
-			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-			x = vaddq_f32(x, z);
-
-			uint32x4_t mask = vcltq_f32(x, minDot);
-			minDot = vbslq_f32(mask, x, minDot);
-			index = vbslq_u32(mask, local_index, index);
-			local_index = vaddq_u32(local_index, four);
-		}
-		break;
-
-		default:
-			break;
-	}
-
-	// select best answer between hi and lo results
-	uint32x2_t mask = vclt_f32(vget_high_f32(minDot), vget_low_f32(minDot));
-	float32x2_t minDot2 = vbsl_f32(mask, vget_high_f32(minDot), vget_low_f32(minDot));
-	uint32x2_t index2 = vbsl_u32(mask, vget_high_u32(index), vget_low_u32(index));
-
-	// select best answer between even and odd results
-	float32x2_t minDotO = vdup_lane_f32(minDot2, 1);
-	uint32x2_t indexHi = vdup_lane_u32(index2, 1);
-	mask = vclt_f32(minDotO, minDot2);
-	minDot2 = vbsl_f32(mask, minDotO, minDot2);
-	index2 = vbsl_u32(mask, indexHi, index2);
-
-	*dotResult = vget_lane_f32(minDot2, 0);
-	return vget_lane_u32(index2, 0);
-}
-
-#else
-#error Unhandled __APPLE__ arch
-#endif
-
-#endif /* __APPLE__ */
diff --git a/thirdparty/bullet/LinearMath/btVector3.h b/thirdparty/bullet/LinearMath/btVector3.h
deleted file mode 100644
index d65ed9808d..0000000000
--- a/thirdparty/bullet/LinearMath/btVector3.h
+++ /dev/null
@@ -1,1336 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_VECTOR3_H
-#define BT_VECTOR3_H
-
-//#include <stdint.h>
-#include "btScalar.h"
-#include "btMinMax.h"
-#include "btAlignedAllocator.h"
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btVector3Data btVector3DoubleData
-#define btVector3DataName "btVector3DoubleData"
-#else
-#define btVector3Data btVector3FloatData
-#define btVector3DataName "btVector3FloatData"
-#endif  //BT_USE_DOUBLE_PRECISION
-
-#if defined BT_USE_SSE
-
-//typedef  uint32_t __m128i __attribute__ ((vector_size(16)));
-
-#ifdef _MSC_VER
-#pragma warning(disable : 4556)  // value of intrinsic immediate argument '4294967239' is out of range '0 - 255'
-#endif
-
-#define BT_SHUFFLE(x, y, z, w) (((w) << 6 | (z) << 4 | (y) << 2 | (x)) & 0xff)
-//#define bt_pshufd_ps( _a, _mask ) (__m128) _mm_shuffle_epi32((__m128i)(_a), (_mask) )
-#define bt_pshufd_ps(_a, _mask) _mm_shuffle_ps((_a), (_a), (_mask))
-#define bt_splat3_ps(_a, _i) bt_pshufd_ps((_a), BT_SHUFFLE(_i, _i, _i, 3))
-#define bt_splat_ps(_a, _i) bt_pshufd_ps((_a), BT_SHUFFLE(_i, _i, _i, _i))
-
-#define btv3AbsiMask (_mm_set_epi32(0x00000000, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF))
-#define btvAbsMask (_mm_set_epi32(0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF))
-#define btvFFF0Mask (_mm_set_epi32(0x00000000, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF))
-#define btv3AbsfMask btCastiTo128f(btv3AbsiMask)
-#define btvFFF0fMask btCastiTo128f(btvFFF0Mask)
-#define btvxyzMaskf btvFFF0fMask
-#define btvAbsfMask btCastiTo128f(btvAbsMask)
-
-//there is an issue with XCode 3.2 (LCx errors)
-#define btvMzeroMask (_mm_set_ps(-0.0f, -0.0f, -0.0f, -0.0f))
-#define v1110 (_mm_set_ps(0.0f, 1.0f, 1.0f, 1.0f))
-#define vHalf (_mm_set_ps(0.5f, 0.5f, 0.5f, 0.5f))
-#define v1_5 (_mm_set_ps(1.5f, 1.5f, 1.5f, 1.5f))
-
-//const __m128 ATTRIBUTE_ALIGNED16(btvMzeroMask) = {-0.0f, -0.0f, -0.0f, -0.0f};
-//const __m128 ATTRIBUTE_ALIGNED16(v1110) = {1.0f, 1.0f, 1.0f, 0.0f};
-//const __m128 ATTRIBUTE_ALIGNED16(vHalf) = {0.5f, 0.5f, 0.5f, 0.5f};
-//const __m128 ATTRIBUTE_ALIGNED16(v1_5)  = {1.5f, 1.5f, 1.5f, 1.5f};
-
-#endif
-
-#ifdef BT_USE_NEON
-
-const float32x4_t ATTRIBUTE_ALIGNED16(btvMzeroMask) = (float32x4_t){-0.0f, -0.0f, -0.0f, -0.0f};
-const int32x4_t ATTRIBUTE_ALIGNED16(btvFFF0Mask) = (int32x4_t){static_cast<int32_t>(0xFFFFFFFF),
-															   static_cast<int32_t>(0xFFFFFFFF), static_cast<int32_t>(0xFFFFFFFF), 0x0};
-const int32x4_t ATTRIBUTE_ALIGNED16(btvAbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF};
-const int32x4_t ATTRIBUTE_ALIGNED16(btv3AbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x0};
-
-#endif
-
-/**@brief btVector3 can be used to represent 3D points and vectors.
- * It has an un-used w component to suit 16-byte alignment when btVector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user
- * Ideally, this class should be replaced by a platform optimized SIMD version that keeps the data in registers
- */
-ATTRIBUTE_ALIGNED16(class)
-btVector3
-{
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-#if defined(__SPU__) && defined(__CELLOS_LV2__)
-	btScalar m_floats[4];
-
-public:
-	SIMD_FORCE_INLINE const vec_float4& get128() const
-	{
-		return *((const vec_float4*)&m_floats[0]);
-	}
-
-public:
-#else                                            //__CELLOS_LV2__ __SPU__
-#if defined(BT_USE_SSE) || defined(BT_USE_NEON)  // _WIN32 || ARM
-	union {
-		btSimdFloat4 mVec128;
-		btScalar m_floats[4];
-	};
-	SIMD_FORCE_INLINE btSimdFloat4 get128() const
-	{
-		return mVec128;
-	}
-	SIMD_FORCE_INLINE void set128(btSimdFloat4 v128)
-	{
-		mVec128 = v128;
-	}
-#else
-	btScalar m_floats[4];
-#endif
-#endif  //__CELLOS_LV2__ __SPU__
-
-public:
-	/**@brief No initialization constructor */
-	SIMD_FORCE_INLINE btVector3()
-	{
-	}
-
-	/**@brief Constructor from scalars 
-   * @param x X value
-   * @param y Y value 
-   * @param z Z value 
-   */
-	SIMD_FORCE_INLINE btVector3(const btScalar& _x, const btScalar& _y, const btScalar& _z)
-	{
-		m_floats[0] = _x;
-		m_floats[1] = _y;
-		m_floats[2] = _z;
-		m_floats[3] = btScalar(0.f);
-	}
-
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-	// Set Vector
-	SIMD_FORCE_INLINE btVector3(btSimdFloat4 v)
-	{
-		mVec128 = v;
-	}
-
-	// Copy constructor
-	SIMD_FORCE_INLINE btVector3(const btVector3& rhs)
-	{
-		mVec128 = rhs.mVec128;
-	}
-
-	// Assignment Operator
-	SIMD_FORCE_INLINE btVector3&
-	operator=(const btVector3& v)
-	{
-		mVec128 = v.mVec128;
-
-		return *this;
-	}
-#endif  // #if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
-
-	/**@brief Add a vector to this one 
- * @param The vector to add to this one */
-	SIMD_FORCE_INLINE btVector3& operator+=(const btVector3& v)
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		mVec128 = _mm_add_ps(mVec128, v.mVec128);
-#elif defined(BT_USE_NEON)
-		mVec128 = vaddq_f32(mVec128, v.mVec128);
-#else
-		m_floats[0] += v.m_floats[0];
-		m_floats[1] += v.m_floats[1];
-		m_floats[2] += v.m_floats[2];
-#endif
-		return *this;
-	}
-
-	/**@brief Subtract a vector from this one
-   * @param The vector to subtract */
-	SIMD_FORCE_INLINE btVector3& operator-=(const btVector3& v)
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		mVec128 = _mm_sub_ps(mVec128, v.mVec128);
-#elif defined(BT_USE_NEON)
-		mVec128 = vsubq_f32(mVec128, v.mVec128);
-#else
-		m_floats[0] -= v.m_floats[0];
-		m_floats[1] -= v.m_floats[1];
-		m_floats[2] -= v.m_floats[2];
-#endif
-		return *this;
-	}
-
-	/**@brief Scale the vector
-   * @param s Scale factor */
-	SIMD_FORCE_INLINE btVector3& operator*=(const btScalar& s)
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		__m128 vs = _mm_load_ss(&s);  //	(S 0 0 0)
-		vs = bt_pshufd_ps(vs, 0x80);  //	(S S S 0.0)
-		mVec128 = _mm_mul_ps(mVec128, vs);
-#elif defined(BT_USE_NEON)
-		mVec128 = vmulq_n_f32(mVec128, s);
-#else
-		m_floats[0] *= s;
-		m_floats[1] *= s;
-		m_floats[2] *= s;
-#endif
-		return *this;
-	}
-
-	/**@brief Inversely scale the vector 
-   * @param s Scale factor to divide by */
-	SIMD_FORCE_INLINE btVector3& operator/=(const btScalar& s)
-	{
-		btFullAssert(s != btScalar(0.0));
-
-#if 0  //defined(BT_USE_SSE_IN_API)
-// this code is not faster !
-		__m128 vs = _mm_load_ss(&s);
-		vs = _mm_div_ss(v1110, vs);
-		vs = bt_pshufd_ps(vs, 0x00);	//	(S S S S)
-
-		mVec128 = _mm_mul_ps(mVec128, vs);
-		
-		return *this;
-#else
-		return *this *= btScalar(1.0) / s;
-#endif
-	}
-
-	/**@brief Return the dot product
-   * @param v The other vector in the dot product */
-	SIMD_FORCE_INLINE btScalar dot(const btVector3& v) const
-	{
-#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		__m128 vd = _mm_mul_ps(mVec128, v.mVec128);
-		__m128 z = _mm_movehl_ps(vd, vd);
-		__m128 y = _mm_shuffle_ps(vd, vd, 0x55);
-		vd = _mm_add_ss(vd, y);
-		vd = _mm_add_ss(vd, z);
-		return _mm_cvtss_f32(vd);
-#elif defined(BT_USE_NEON)
-		float32x4_t vd = vmulq_f32(mVec128, v.mVec128);
-		float32x2_t x = vpadd_f32(vget_low_f32(vd), vget_low_f32(vd));
-		x = vadd_f32(x, vget_high_f32(vd));
-		return vget_lane_f32(x, 0);
-#else
-		return m_floats[0] * v.m_floats[0] +
-			   m_floats[1] * v.m_floats[1] +
-			   m_floats[2] * v.m_floats[2];
-#endif
-	}
-
-	/**@brief Return the length of the vector squared */
-	SIMD_FORCE_INLINE btScalar length2() const
-	{
-		return dot(*this);
-	}
-
-	/**@brief Return the length of the vector */
-	SIMD_FORCE_INLINE btScalar length() const
-	{
-		return btSqrt(length2());
-	}
-
-	/**@brief Return the norm (length) of the vector */
-	SIMD_FORCE_INLINE btScalar norm() const
-	{
-		return length();
-	}
-
-	/**@brief Return the norm (length) of the vector */
-	SIMD_FORCE_INLINE btScalar safeNorm() const
-	{
-		btScalar d = length2();
-		//workaround for some clang/gcc issue of sqrtf(tiny number) = -INF
-		if (d > SIMD_EPSILON)
-			return btSqrt(d);
-		return btScalar(0);
-	}
-
-	/**@brief Return the distance squared between the ends of this and another vector
-   * This is symantically treating the vector like a point */
-	SIMD_FORCE_INLINE btScalar distance2(const btVector3& v) const;
-
-	/**@brief Return the distance between the ends of this and another vector
-   * This is symantically treating the vector like a point */
-	SIMD_FORCE_INLINE btScalar distance(const btVector3& v) const;
-
-	SIMD_FORCE_INLINE btVector3& safeNormalize()
-	{
-		btScalar l2 = length2();
-		//triNormal.normalize();
-		if (l2 >= SIMD_EPSILON * SIMD_EPSILON)
-		{
-			(*this) /= btSqrt(l2);
-		}
-		else
-		{
-			setValue(1, 0, 0);
-		}
-		return *this;
-	}
-
-	/**@brief Normalize this vector 
-   * x^2 + y^2 + z^2 = 1 */
-	SIMD_FORCE_INLINE btVector3& normalize()
-	{
-		btAssert(!fuzzyZero());
-
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		// dot product first
-		__m128 vd = _mm_mul_ps(mVec128, mVec128);
-		__m128 z = _mm_movehl_ps(vd, vd);
-		__m128 y = _mm_shuffle_ps(vd, vd, 0x55);
-		vd = _mm_add_ss(vd, y);
-		vd = _mm_add_ss(vd, z);
-
-#if 0
-        vd = _mm_sqrt_ss(vd);
-		vd = _mm_div_ss(v1110, vd);
-		vd = bt_splat_ps(vd, 0x80);
-		mVec128 = _mm_mul_ps(mVec128, vd);
-#else
-
-		// NR step 1/sqrt(x) - vd is x, y is output
-		y = _mm_rsqrt_ss(vd);  // estimate
-
-		//  one step NR
-		z = v1_5;
-		vd = _mm_mul_ss(vd, vHalf);  // vd * 0.5
-		//x2 = vd;
-		vd = _mm_mul_ss(vd, y);  // vd * 0.5 * y0
-		vd = _mm_mul_ss(vd, y);  // vd * 0.5 * y0 * y0
-		z = _mm_sub_ss(z, vd);   // 1.5 - vd * 0.5 * y0 * y0
-
-		y = _mm_mul_ss(y, z);  // y0 * (1.5 - vd * 0.5 * y0 * y0)
-
-		y = bt_splat_ps(y, 0x80);
-		mVec128 = _mm_mul_ps(mVec128, y);
-
-#endif
-
-		return *this;
-#else
-		return *this /= length();
-#endif
-	}
-
-	/**@brief Return a normalized version of this vector */
-	SIMD_FORCE_INLINE btVector3 normalized() const;
-
-	/**@brief Return a rotated version of this vector
-   * @param wAxis The axis to rotate about 
-   * @param angle The angle to rotate by */
-	SIMD_FORCE_INLINE btVector3 rotate(const btVector3& wAxis, const btScalar angle) const;
-
-	/**@brief Return the angle between this and another vector
-   * @param v The other vector */
-	SIMD_FORCE_INLINE btScalar angle(const btVector3& v) const
-	{
-		btScalar s = btSqrt(length2() * v.length2());
-		btFullAssert(s != btScalar(0.0));
-		return btAcos(dot(v) / s);
-	}
-
-	/**@brief Return a vector with the absolute values of each element */
-	SIMD_FORCE_INLINE btVector3 absolute() const
-	{
-#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		return btVector3(_mm_and_ps(mVec128, btv3AbsfMask));
-#elif defined(BT_USE_NEON)
-		return btVector3(vabsq_f32(mVec128));
-#else
-		return btVector3(
-			btFabs(m_floats[0]),
-			btFabs(m_floats[1]),
-			btFabs(m_floats[2]));
-#endif
-	}
-
-	/**@brief Return the cross product between this and another vector 
-   * @param v The other vector */
-	SIMD_FORCE_INLINE btVector3 cross(const btVector3& v) const
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		__m128 T, V;
-
-		T = bt_pshufd_ps(mVec128, BT_SHUFFLE(1, 2, 0, 3));    //	(Y Z X 0)
-		V = bt_pshufd_ps(v.mVec128, BT_SHUFFLE(1, 2, 0, 3));  //	(Y Z X 0)
-
-		V = _mm_mul_ps(V, mVec128);
-		T = _mm_mul_ps(T, v.mVec128);
-		V = _mm_sub_ps(V, T);
-
-		V = bt_pshufd_ps(V, BT_SHUFFLE(1, 2, 0, 3));
-		return btVector3(V);
-#elif defined(BT_USE_NEON)
-		float32x4_t T, V;
-		// form (Y, Z, X, _) of mVec128 and v.mVec128
-		float32x2_t Tlow = vget_low_f32(mVec128);
-		float32x2_t Vlow = vget_low_f32(v.mVec128);
-		T = vcombine_f32(vext_f32(Tlow, vget_high_f32(mVec128), 1), Tlow);
-		V = vcombine_f32(vext_f32(Vlow, vget_high_f32(v.mVec128), 1), Vlow);
-
-		V = vmulq_f32(V, mVec128);
-		T = vmulq_f32(T, v.mVec128);
-		V = vsubq_f32(V, T);
-		Vlow = vget_low_f32(V);
-		// form (Y, Z, X, _);
-		V = vcombine_f32(vext_f32(Vlow, vget_high_f32(V), 1), Vlow);
-		V = (float32x4_t)vandq_s32((int32x4_t)V, btvFFF0Mask);
-
-		return btVector3(V);
-#else
-		return btVector3(
-			m_floats[1] * v.m_floats[2] - m_floats[2] * v.m_floats[1],
-			m_floats[2] * v.m_floats[0] - m_floats[0] * v.m_floats[2],
-			m_floats[0] * v.m_floats[1] - m_floats[1] * v.m_floats[0]);
-#endif
-	}
-
-	SIMD_FORCE_INLINE btScalar triple(const btVector3& v1, const btVector3& v2) const
-	{
-#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		// cross:
-		__m128 T = _mm_shuffle_ps(v1.mVec128, v1.mVec128, BT_SHUFFLE(1, 2, 0, 3));  //	(Y Z X 0)
-		__m128 V = _mm_shuffle_ps(v2.mVec128, v2.mVec128, BT_SHUFFLE(1, 2, 0, 3));  //	(Y Z X 0)
-
-		V = _mm_mul_ps(V, v1.mVec128);
-		T = _mm_mul_ps(T, v2.mVec128);
-		V = _mm_sub_ps(V, T);
-
-		V = _mm_shuffle_ps(V, V, BT_SHUFFLE(1, 2, 0, 3));
-
-		// dot:
-		V = _mm_mul_ps(V, mVec128);
-		__m128 z = _mm_movehl_ps(V, V);
-		__m128 y = _mm_shuffle_ps(V, V, 0x55);
-		V = _mm_add_ss(V, y);
-		V = _mm_add_ss(V, z);
-		return _mm_cvtss_f32(V);
-
-#elif defined(BT_USE_NEON)
-		// cross:
-		float32x4_t T, V;
-		// form (Y, Z, X, _) of mVec128 and v.mVec128
-		float32x2_t Tlow = vget_low_f32(v1.mVec128);
-		float32x2_t Vlow = vget_low_f32(v2.mVec128);
-		T = vcombine_f32(vext_f32(Tlow, vget_high_f32(v1.mVec128), 1), Tlow);
-		V = vcombine_f32(vext_f32(Vlow, vget_high_f32(v2.mVec128), 1), Vlow);
-
-		V = vmulq_f32(V, v1.mVec128);
-		T = vmulq_f32(T, v2.mVec128);
-		V = vsubq_f32(V, T);
-		Vlow = vget_low_f32(V);
-		// form (Y, Z, X, _);
-		V = vcombine_f32(vext_f32(Vlow, vget_high_f32(V), 1), Vlow);
-
-		// dot:
-		V = vmulq_f32(mVec128, V);
-		float32x2_t x = vpadd_f32(vget_low_f32(V), vget_low_f32(V));
-		x = vadd_f32(x, vget_high_f32(V));
-		return vget_lane_f32(x, 0);
-#else
-		return m_floats[0] * (v1.m_floats[1] * v2.m_floats[2] - v1.m_floats[2] * v2.m_floats[1]) +
-			   m_floats[1] * (v1.m_floats[2] * v2.m_floats[0] - v1.m_floats[0] * v2.m_floats[2]) +
-			   m_floats[2] * (v1.m_floats[0] * v2.m_floats[1] - v1.m_floats[1] * v2.m_floats[0]);
-#endif
-	}
-
-	/**@brief Return the axis with the smallest value 
-   * Note return values are 0,1,2 for x, y, or z */
-	SIMD_FORCE_INLINE int minAxis() const
-	{
-		return m_floats[0] < m_floats[1] ? (m_floats[0] < m_floats[2] ? 0 : 2) : (m_floats[1] < m_floats[2] ? 1 : 2);
-	}
-
-	/**@brief Return the axis with the largest value 
-   * Note return values are 0,1,2 for x, y, or z */
-	SIMD_FORCE_INLINE int maxAxis() const
-	{
-		return m_floats[0] < m_floats[1] ? (m_floats[1] < m_floats[2] ? 2 : 1) : (m_floats[0] < m_floats[2] ? 2 : 0);
-	}
-
-	SIMD_FORCE_INLINE int furthestAxis() const
-	{
-		return absolute().minAxis();
-	}
-
-	SIMD_FORCE_INLINE int closestAxis() const
-	{
-		return absolute().maxAxis();
-	}
-
-	SIMD_FORCE_INLINE void setInterpolate3(const btVector3& v0, const btVector3& v1, btScalar rt)
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		__m128 vrt = _mm_load_ss(&rt);  //	(rt 0 0 0)
-		btScalar s = btScalar(1.0) - rt;
-		__m128 vs = _mm_load_ss(&s);  //	(S 0 0 0)
-		vs = bt_pshufd_ps(vs, 0x80);  //	(S S S 0.0)
-		__m128 r0 = _mm_mul_ps(v0.mVec128, vs);
-		vrt = bt_pshufd_ps(vrt, 0x80);  //	(rt rt rt 0.0)
-		__m128 r1 = _mm_mul_ps(v1.mVec128, vrt);
-		__m128 tmp3 = _mm_add_ps(r0, r1);
-		mVec128 = tmp3;
-#elif defined(BT_USE_NEON)
-		float32x4_t vl = vsubq_f32(v1.mVec128, v0.mVec128);
-		vl = vmulq_n_f32(vl, rt);
-		mVec128 = vaddq_f32(vl, v0.mVec128);
-#else
-		btScalar s = btScalar(1.0) - rt;
-		m_floats[0] = s * v0.m_floats[0] + rt * v1.m_floats[0];
-		m_floats[1] = s * v0.m_floats[1] + rt * v1.m_floats[1];
-		m_floats[2] = s * v0.m_floats[2] + rt * v1.m_floats[2];
-		//don't do the unused w component
-		//		m_co[3] = s * v0[3] + rt * v1[3];
-#endif
-	}
-
-	/**@brief Return the linear interpolation between this and another vector 
-   * @param v The other vector 
-   * @param t The ration of this to v (t = 0 => return this, t=1 => return other) */
-	SIMD_FORCE_INLINE btVector3 lerp(const btVector3& v, const btScalar& t) const
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		__m128 vt = _mm_load_ss(&t);  //	(t 0 0 0)
-		vt = bt_pshufd_ps(vt, 0x80);  //	(rt rt rt 0.0)
-		__m128 vl = _mm_sub_ps(v.mVec128, mVec128);
-		vl = _mm_mul_ps(vl, vt);
-		vl = _mm_add_ps(vl, mVec128);
-
-		return btVector3(vl);
-#elif defined(BT_USE_NEON)
-		float32x4_t vl = vsubq_f32(v.mVec128, mVec128);
-		vl = vmulq_n_f32(vl, t);
-		vl = vaddq_f32(vl, mVec128);
-
-		return btVector3(vl);
-#else
-		return btVector3(m_floats[0] + (v.m_floats[0] - m_floats[0]) * t,
-						 m_floats[1] + (v.m_floats[1] - m_floats[1]) * t,
-						 m_floats[2] + (v.m_floats[2] - m_floats[2]) * t);
-#endif
-	}
-
-	/**@brief Elementwise multiply this vector by the other 
-   * @param v The other vector */
-	SIMD_FORCE_INLINE btVector3& operator*=(const btVector3& v)
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		mVec128 = _mm_mul_ps(mVec128, v.mVec128);
-#elif defined(BT_USE_NEON)
-		mVec128 = vmulq_f32(mVec128, v.mVec128);
-#else
-		m_floats[0] *= v.m_floats[0];
-		m_floats[1] *= v.m_floats[1];
-		m_floats[2] *= v.m_floats[2];
-#endif
-		return *this;
-	}
-
-	/**@brief Return the x value */
-	SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; }
-	/**@brief Return the y value */
-	SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; }
-	/**@brief Return the z value */
-	SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; }
-	/**@brief Set the x value */
-	SIMD_FORCE_INLINE void setX(btScalar _x) { m_floats[0] = _x; };
-	/**@brief Set the y value */
-	SIMD_FORCE_INLINE void setY(btScalar _y) { m_floats[1] = _y; };
-	/**@brief Set the z value */
-	SIMD_FORCE_INLINE void setZ(btScalar _z) { m_floats[2] = _z; };
-	/**@brief Set the w value */
-	SIMD_FORCE_INLINE void setW(btScalar _w) { m_floats[3] = _w; };
-	/**@brief Return the x value */
-	SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; }
-	/**@brief Return the y value */
-	SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; }
-	/**@brief Return the z value */
-	SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; }
-	/**@brief Return the w value */
-	SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; }
-
-	//SIMD_FORCE_INLINE btScalar&       operator[](int i)       { return (&m_floats[0])[i];	}
-	//SIMD_FORCE_INLINE const btScalar& operator[](int i) const { return (&m_floats[0])[i]; }
-	///operator btScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons.
-	SIMD_FORCE_INLINE operator btScalar*() { return &m_floats[0]; }
-	SIMD_FORCE_INLINE operator const btScalar*() const { return &m_floats[0]; }
-
-	SIMD_FORCE_INLINE bool operator==(const btVector3& other) const
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128)));
-#else
-		return ((m_floats[3] == other.m_floats[3]) &&
-				(m_floats[2] == other.m_floats[2]) &&
-				(m_floats[1] == other.m_floats[1]) &&
-				(m_floats[0] == other.m_floats[0]));
-#endif
-	}
-
-	SIMD_FORCE_INLINE bool operator!=(const btVector3& other) const
-	{
-		return !(*this == other);
-	}
-
-	/**@brief Set each element to the max of the current values and the values of another btVector3
-   * @param other The other btVector3 to compare with 
-   */
-	SIMD_FORCE_INLINE void setMax(const btVector3& other)
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		mVec128 = _mm_max_ps(mVec128, other.mVec128);
-#elif defined(BT_USE_NEON)
-		mVec128 = vmaxq_f32(mVec128, other.mVec128);
-#else
-		btSetMax(m_floats[0], other.m_floats[0]);
-		btSetMax(m_floats[1], other.m_floats[1]);
-		btSetMax(m_floats[2], other.m_floats[2]);
-		btSetMax(m_floats[3], other.w());
-#endif
-	}
-
-	/**@brief Set each element to the min of the current values and the values of another btVector3
-   * @param other The other btVector3 to compare with 
-   */
-	SIMD_FORCE_INLINE void setMin(const btVector3& other)
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		mVec128 = _mm_min_ps(mVec128, other.mVec128);
-#elif defined(BT_USE_NEON)
-		mVec128 = vminq_f32(mVec128, other.mVec128);
-#else
-		btSetMin(m_floats[0], other.m_floats[0]);
-		btSetMin(m_floats[1], other.m_floats[1]);
-		btSetMin(m_floats[2], other.m_floats[2]);
-		btSetMin(m_floats[3], other.w());
-#endif
-	}
-
-	SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z)
-	{
-		m_floats[0] = _x;
-		m_floats[1] = _y;
-		m_floats[2] = _z;
-		m_floats[3] = btScalar(0.f);
-	}
-
-	void getSkewSymmetricMatrix(btVector3 * v0, btVector3 * v1, btVector3 * v2) const
-	{
-#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-
-		__m128 V = _mm_and_ps(mVec128, btvFFF0fMask);
-		__m128 V0 = _mm_xor_ps(btvMzeroMask, V);
-		__m128 V2 = _mm_movelh_ps(V0, V);
-
-		__m128 V1 = _mm_shuffle_ps(V, V0, 0xCE);
-
-		V0 = _mm_shuffle_ps(V0, V, 0xDB);
-		V2 = _mm_shuffle_ps(V2, V, 0xF9);
-
-		v0->mVec128 = V0;
-		v1->mVec128 = V1;
-		v2->mVec128 = V2;
-#else
-		v0->setValue(0., -z(), y());
-		v1->setValue(z(), 0., -x());
-		v2->setValue(-y(), x(), 0.);
-#endif
-	}
-
-	void setZero()
-	{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		mVec128 = (__m128)_mm_xor_ps(mVec128, mVec128);
-#elif defined(BT_USE_NEON)
-		int32x4_t vi = vdupq_n_s32(0);
-		mVec128 = vreinterpretq_f32_s32(vi);
-#else
-		setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-#endif
-	}
-
-	SIMD_FORCE_INLINE bool isZero() const
-	{
-		return m_floats[0] == btScalar(0) && m_floats[1] == btScalar(0) && m_floats[2] == btScalar(0);
-	}
-
-	SIMD_FORCE_INLINE bool fuzzyZero() const
-	{
-		return length2() < SIMD_EPSILON * SIMD_EPSILON;
-	}
-
-	SIMD_FORCE_INLINE void serialize(struct btVector3Data & dataOut) const;
-
-	SIMD_FORCE_INLINE void deSerialize(const struct btVector3DoubleData& dataIn);
-
-	SIMD_FORCE_INLINE void deSerialize(const struct btVector3FloatData& dataIn);
-
-	SIMD_FORCE_INLINE void serializeFloat(struct btVector3FloatData & dataOut) const;
-
-	SIMD_FORCE_INLINE void deSerializeFloat(const struct btVector3FloatData& dataIn);
-
-	SIMD_FORCE_INLINE void serializeDouble(struct btVector3DoubleData & dataOut) const;
-
-	SIMD_FORCE_INLINE void deSerializeDouble(const struct btVector3DoubleData& dataIn);
-
-	/**@brief returns index of maximum dot product between this and vectors in array[]
-         * @param array The other vectors 
-         * @param array_count The number of other vectors 
-         * @param dotOut The maximum dot product */
-	SIMD_FORCE_INLINE long maxDot(const btVector3* array, long array_count, btScalar& dotOut) const;
-
-	/**@brief returns index of minimum dot product between this and vectors in array[]
-         * @param array The other vectors 
-         * @param array_count The number of other vectors 
-         * @param dotOut The minimum dot product */
-	SIMD_FORCE_INLINE long minDot(const btVector3* array, long array_count, btScalar& dotOut) const;
-
-	/* create a vector as  btVector3( this->dot( btVector3 v0 ), this->dot( btVector3 v1), this->dot( btVector3 v2 ))  */
-	SIMD_FORCE_INLINE btVector3 dot3(const btVector3& v0, const btVector3& v1, const btVector3& v2) const
-	{
-#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-
-		__m128 a0 = _mm_mul_ps(v0.mVec128, this->mVec128);
-		__m128 a1 = _mm_mul_ps(v1.mVec128, this->mVec128);
-		__m128 a2 = _mm_mul_ps(v2.mVec128, this->mVec128);
-		__m128 b0 = _mm_unpacklo_ps(a0, a1);
-		__m128 b1 = _mm_unpackhi_ps(a0, a1);
-		__m128 b2 = _mm_unpacklo_ps(a2, _mm_setzero_ps());
-		__m128 r = _mm_movelh_ps(b0, b2);
-		r = _mm_add_ps(r, _mm_movehl_ps(b2, b0));
-		a2 = _mm_and_ps(a2, btvxyzMaskf);
-		r = _mm_add_ps(r, btCastdTo128f(_mm_move_sd(btCastfTo128d(a2), btCastfTo128d(b1))));
-		return btVector3(r);
-
-#elif defined(BT_USE_NEON)
-		static const uint32x4_t xyzMask = (const uint32x4_t){static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), 0};
-		float32x4_t a0 = vmulq_f32(v0.mVec128, this->mVec128);
-		float32x4_t a1 = vmulq_f32(v1.mVec128, this->mVec128);
-		float32x4_t a2 = vmulq_f32(v2.mVec128, this->mVec128);
-		float32x2x2_t zLo = vtrn_f32(vget_high_f32(a0), vget_high_f32(a1));
-		a2 = (float32x4_t)vandq_u32((uint32x4_t)a2, xyzMask);
-		float32x2_t b0 = vadd_f32(vpadd_f32(vget_low_f32(a0), vget_low_f32(a1)), zLo.val[0]);
-		float32x2_t b1 = vpadd_f32(vpadd_f32(vget_low_f32(a2), vget_high_f32(a2)), vdup_n_f32(0.0f));
-		return btVector3(vcombine_f32(b0, b1));
-#else
-		return btVector3(dot(v0), dot(v1), dot(v2));
-#endif
-	}
-};
-
-/**@brief Return the sum of two vectors (Point symantics)*/
-SIMD_FORCE_INLINE btVector3
-operator+(const btVector3& v1, const btVector3& v2)
-{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-	return btVector3(_mm_add_ps(v1.mVec128, v2.mVec128));
-#elif defined(BT_USE_NEON)
-	return btVector3(vaddq_f32(v1.mVec128, v2.mVec128));
-#else
-	return btVector3(
-		v1.m_floats[0] + v2.m_floats[0],
-		v1.m_floats[1] + v2.m_floats[1],
-		v1.m_floats[2] + v2.m_floats[2]);
-#endif
-}
-
-/**@brief Return the elementwise product of two vectors */
-SIMD_FORCE_INLINE btVector3
-operator*(const btVector3& v1, const btVector3& v2)
-{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-	return btVector3(_mm_mul_ps(v1.mVec128, v2.mVec128));
-#elif defined(BT_USE_NEON)
-	return btVector3(vmulq_f32(v1.mVec128, v2.mVec128));
-#else
-	return btVector3(
-		v1.m_floats[0] * v2.m_floats[0],
-		v1.m_floats[1] * v2.m_floats[1],
-		v1.m_floats[2] * v2.m_floats[2]);
-#endif
-}
-
-/**@brief Return the difference between two vectors */
-SIMD_FORCE_INLINE btVector3
-operator-(const btVector3& v1, const btVector3& v2)
-{
-#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
-
-	//	without _mm_and_ps this code causes slowdown in Concave moving
-	__m128 r = _mm_sub_ps(v1.mVec128, v2.mVec128);
-	return btVector3(_mm_and_ps(r, btvFFF0fMask));
-#elif defined(BT_USE_NEON)
-	float32x4_t r = vsubq_f32(v1.mVec128, v2.mVec128);
-	return btVector3((float32x4_t)vandq_s32((int32x4_t)r, btvFFF0Mask));
-#else
-	return btVector3(
-		v1.m_floats[0] - v2.m_floats[0],
-		v1.m_floats[1] - v2.m_floats[1],
-		v1.m_floats[2] - v2.m_floats[2]);
-#endif
-}
-
-/**@brief Return the negative of the vector */
-SIMD_FORCE_INLINE btVector3
-operator-(const btVector3& v)
-{
-#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
-	__m128 r = _mm_xor_ps(v.mVec128, btvMzeroMask);
-	return btVector3(_mm_and_ps(r, btvFFF0fMask));
-#elif defined(BT_USE_NEON)
-	return btVector3((btSimdFloat4)veorq_s32((int32x4_t)v.mVec128, (int32x4_t)btvMzeroMask));
-#else
-	return btVector3(-v.m_floats[0], -v.m_floats[1], -v.m_floats[2]);
-#endif
-}
-
-/**@brief Return the vector scaled by s */
-SIMD_FORCE_INLINE btVector3
-operator*(const btVector3& v, const btScalar& s)
-{
-#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-	__m128 vs = _mm_load_ss(&s);  //	(S 0 0 0)
-	vs = bt_pshufd_ps(vs, 0x80);  //	(S S S 0.0)
-	return btVector3(_mm_mul_ps(v.mVec128, vs));
-#elif defined(BT_USE_NEON)
-	float32x4_t r = vmulq_n_f32(v.mVec128, s);
-	return btVector3((float32x4_t)vandq_s32((int32x4_t)r, btvFFF0Mask));
-#else
-	return btVector3(v.m_floats[0] * s, v.m_floats[1] * s, v.m_floats[2] * s);
-#endif
-}
-
-/**@brief Return the vector scaled by s */
-SIMD_FORCE_INLINE btVector3
-operator*(const btScalar& s, const btVector3& v)
-{
-	return v * s;
-}
-
-/**@brief Return the vector inversely scaled by s */
-SIMD_FORCE_INLINE btVector3
-operator/(const btVector3& v, const btScalar& s)
-{
-	btFullAssert(s != btScalar(0.0));
-#if 0  //defined(BT_USE_SSE_IN_API)
-// this code is not faster !
-	__m128 vs = _mm_load_ss(&s);
-    vs = _mm_div_ss(v1110, vs);
-	vs = bt_pshufd_ps(vs, 0x00);	//	(S S S S)
-
-	return btVector3(_mm_mul_ps(v.mVec128, vs));
-#else
-	return v * (btScalar(1.0) / s);
-#endif
-}
-
-/**@brief Return the vector inversely scaled by s */
-SIMD_FORCE_INLINE btVector3
-operator/(const btVector3& v1, const btVector3& v2)
-{
-#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
-	__m128 vec = _mm_div_ps(v1.mVec128, v2.mVec128);
-	vec = _mm_and_ps(vec, btvFFF0fMask);
-	return btVector3(vec);
-#elif defined(BT_USE_NEON)
-	float32x4_t x, y, v, m;
-
-	x = v1.mVec128;
-	y = v2.mVec128;
-
-	v = vrecpeq_f32(y);     // v ~ 1/y
-	m = vrecpsq_f32(y, v);  // m = (2-v*y)
-	v = vmulq_f32(v, m);    // vv = v*m ~~ 1/y
-	m = vrecpsq_f32(y, v);  // mm = (2-vv*y)
-	v = vmulq_f32(v, x);    // x*vv
-	v = vmulq_f32(v, m);    // (x*vv)*(2-vv*y) = x*(vv(2-vv*y)) ~~~ x/y
-
-	return btVector3(v);
-#else
-	return btVector3(
-		v1.m_floats[0] / v2.m_floats[0],
-		v1.m_floats[1] / v2.m_floats[1],
-		v1.m_floats[2] / v2.m_floats[2]);
-#endif
-}
-
-/**@brief Return the dot product between two vectors */
-SIMD_FORCE_INLINE btScalar
-btDot(const btVector3& v1, const btVector3& v2)
-{
-	return v1.dot(v2);
-}
-
-/**@brief Return the distance squared between two vectors */
-SIMD_FORCE_INLINE btScalar
-btDistance2(const btVector3& v1, const btVector3& v2)
-{
-	return v1.distance2(v2);
-}
-
-/**@brief Return the distance between two vectors */
-SIMD_FORCE_INLINE btScalar
-btDistance(const btVector3& v1, const btVector3& v2)
-{
-	return v1.distance(v2);
-}
-
-/**@brief Return the angle between two vectors */
-SIMD_FORCE_INLINE btScalar
-btAngle(const btVector3& v1, const btVector3& v2)
-{
-	return v1.angle(v2);
-}
-
-/**@brief Return the cross product of two vectors */
-SIMD_FORCE_INLINE btVector3
-btCross(const btVector3& v1, const btVector3& v2)
-{
-	return v1.cross(v2);
-}
-
-SIMD_FORCE_INLINE btScalar
-btTriple(const btVector3& v1, const btVector3& v2, const btVector3& v3)
-{
-	return v1.triple(v2, v3);
-}
-
-/**@brief Return the linear interpolation between two vectors
- * @param v1 One vector 
- * @param v2 The other vector 
- * @param t The ration of this to v (t = 0 => return v1, t=1 => return v2) */
-SIMD_FORCE_INLINE btVector3
-lerp(const btVector3& v1, const btVector3& v2, const btScalar& t)
-{
-	return v1.lerp(v2, t);
-}
-
-SIMD_FORCE_INLINE btScalar btVector3::distance2(const btVector3& v) const
-{
-	return (v - *this).length2();
-}
-
-SIMD_FORCE_INLINE btScalar btVector3::distance(const btVector3& v) const
-{
-	return (v - *this).length();
-}
-
-SIMD_FORCE_INLINE btVector3 btVector3::normalized() const
-{
-	btVector3 nrm = *this;
-
-	return nrm.normalize();
-}
-
-SIMD_FORCE_INLINE btVector3 btVector3::rotate(const btVector3& wAxis, const btScalar _angle) const
-{
-	// wAxis must be a unit lenght vector
-
-#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-
-	__m128 O = _mm_mul_ps(wAxis.mVec128, mVec128);
-	btScalar ssin = btSin(_angle);
-	__m128 C = wAxis.cross(mVec128).mVec128;
-	O = _mm_and_ps(O, btvFFF0fMask);
-	btScalar scos = btCos(_angle);
-
-	__m128 vsin = _mm_load_ss(&ssin);  //	(S 0 0 0)
-	__m128 vcos = _mm_load_ss(&scos);  //	(S 0 0 0)
-
-	__m128 Y = bt_pshufd_ps(O, 0xC9);  //	(Y Z X 0)
-	__m128 Z = bt_pshufd_ps(O, 0xD2);  //	(Z X Y 0)
-	O = _mm_add_ps(O, Y);
-	vsin = bt_pshufd_ps(vsin, 0x80);  //	(S S S 0)
-	O = _mm_add_ps(O, Z);
-	vcos = bt_pshufd_ps(vcos, 0x80);  //	(S S S 0)
-
-	vsin = vsin * C;
-	O = O * wAxis.mVec128;
-	__m128 X = mVec128 - O;
-
-	O = O + vsin;
-	vcos = vcos * X;
-	O = O + vcos;
-
-	return btVector3(O);
-#else
-	btVector3 o = wAxis * wAxis.dot(*this);
-	btVector3 _x = *this - o;
-	btVector3 _y;
-
-	_y = wAxis.cross(*this);
-
-	return (o + _x * btCos(_angle) + _y * btSin(_angle));
-#endif
-}
-
-SIMD_FORCE_INLINE long btVector3::maxDot(const btVector3* array, long array_count, btScalar& dotOut) const
-{
-#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined(BT_USE_NEON)
-#if defined _WIN32 || defined(BT_USE_SSE)
-	const long scalar_cutoff = 10;
-	long _maxdot_large(const float* array, const float* vec, unsigned long array_count, float* dotOut);
-#elif defined BT_USE_NEON
-	const long scalar_cutoff = 4;
-	extern long (*_maxdot_large)(const float* array, const float* vec, unsigned long array_count, float* dotOut);
-#endif
-	if (array_count < scalar_cutoff)
-#endif
-	{
-		btScalar maxDot1 = -SIMD_INFINITY;
-		int i = 0;
-		int ptIndex = -1;
-		for (i = 0; i < array_count; i++)
-		{
-			btScalar dot = array[i].dot(*this);
-
-			if (dot > maxDot1)
-			{
-				maxDot1 = dot;
-				ptIndex = i;
-			}
-		}
-
-		dotOut = maxDot1;
-		return ptIndex;
-	}
-#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined(BT_USE_NEON)
-	return _maxdot_large((float*)array, (float*)&m_floats[0], array_count, &dotOut);
-#endif
-}
-
-SIMD_FORCE_INLINE long btVector3::minDot(const btVector3* array, long array_count, btScalar& dotOut) const
-{
-#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined(BT_USE_NEON)
-#if defined BT_USE_SSE
-	const long scalar_cutoff = 10;
-	long _mindot_large(const float* array, const float* vec, unsigned long array_count, float* dotOut);
-#elif defined BT_USE_NEON
-	const long scalar_cutoff = 4;
-	extern long (*_mindot_large)(const float* array, const float* vec, unsigned long array_count, float* dotOut);
-#else
-#error unhandled arch!
-#endif
-
-	if (array_count < scalar_cutoff)
-#endif
-	{
-		btScalar minDot = SIMD_INFINITY;
-		int i = 0;
-		int ptIndex = -1;
-
-		for (i = 0; i < array_count; i++)
-		{
-			btScalar dot = array[i].dot(*this);
-
-			if (dot < minDot)
-			{
-				minDot = dot;
-				ptIndex = i;
-			}
-		}
-
-		dotOut = minDot;
-
-		return ptIndex;
-	}
-#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined(BT_USE_NEON)
-	return _mindot_large((float*)array, (float*)&m_floats[0], array_count, &dotOut);
-#endif  //BT_USE_SIMD_VECTOR3
-}
-
-class btVector4 : public btVector3
-{
-public:
-	SIMD_FORCE_INLINE btVector4() {}
-
-	SIMD_FORCE_INLINE btVector4(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w)
-		: btVector3(_x, _y, _z)
-	{
-		m_floats[3] = _w;
-	}
-
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-	SIMD_FORCE_INLINE btVector4(const btSimdFloat4 vec)
-	{
-		mVec128 = vec;
-	}
-
-	SIMD_FORCE_INLINE btVector4(const btVector3& rhs)
-	{
-		mVec128 = rhs.mVec128;
-	}
-
-	SIMD_FORCE_INLINE btVector4&
-	operator=(const btVector4& v)
-	{
-		mVec128 = v.mVec128;
-		return *this;
-	}
-#endif  // #if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
-
-	SIMD_FORCE_INLINE btVector4 absolute4() const
-	{
-#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
-		return btVector4(_mm_and_ps(mVec128, btvAbsfMask));
-#elif defined(BT_USE_NEON)
-		return btVector4(vabsq_f32(mVec128));
-#else
-		return btVector4(
-			btFabs(m_floats[0]),
-			btFabs(m_floats[1]),
-			btFabs(m_floats[2]),
-			btFabs(m_floats[3]));
-#endif
-	}
-
-	btScalar getW() const { return m_floats[3]; }
-
-	SIMD_FORCE_INLINE int maxAxis4() const
-	{
-		int maxIndex = -1;
-		btScalar maxVal = btScalar(-BT_LARGE_FLOAT);
-		if (m_floats[0] > maxVal)
-		{
-			maxIndex = 0;
-			maxVal = m_floats[0];
-		}
-		if (m_floats[1] > maxVal)
-		{
-			maxIndex = 1;
-			maxVal = m_floats[1];
-		}
-		if (m_floats[2] > maxVal)
-		{
-			maxIndex = 2;
-			maxVal = m_floats[2];
-		}
-		if (m_floats[3] > maxVal)
-		{
-			maxIndex = 3;
-		}
-
-		return maxIndex;
-	}
-
-	SIMD_FORCE_INLINE int minAxis4() const
-	{
-		int minIndex = -1;
-		btScalar minVal = btScalar(BT_LARGE_FLOAT);
-		if (m_floats[0] < minVal)
-		{
-			minIndex = 0;
-			minVal = m_floats[0];
-		}
-		if (m_floats[1] < minVal)
-		{
-			minIndex = 1;
-			minVal = m_floats[1];
-		}
-		if (m_floats[2] < minVal)
-		{
-			minIndex = 2;
-			minVal = m_floats[2];
-		}
-		if (m_floats[3] < minVal)
-		{
-			minIndex = 3;
-		}
-
-		return minIndex;
-	}
-
-	SIMD_FORCE_INLINE int closestAxis4() const
-	{
-		return absolute4().maxAxis4();
-	}
-
-	/**@brief Set x,y,z and zero w 
-   * @param x Value of x
-   * @param y Value of y
-   * @param z Value of z
-   */
-
-	/*		void getValue(btScalar *m) const 
-		{
-			m[0] = m_floats[0];
-			m[1] = m_floats[1];
-			m[2] =m_floats[2];
-		}
-*/
-	/**@brief Set the values 
-   * @param x Value of x
-   * @param y Value of y
-   * @param z Value of z
-   * @param w Value of w
-   */
-	SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w)
-	{
-		m_floats[0] = _x;
-		m_floats[1] = _y;
-		m_floats[2] = _z;
-		m_floats[3] = _w;
-	}
-};
-
-///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
-SIMD_FORCE_INLINE void btSwapScalarEndian(const btScalar& sourceVal, btScalar& destVal)
-{
-#ifdef BT_USE_DOUBLE_PRECISION
-	unsigned char* dest = (unsigned char*)&destVal;
-	const unsigned char* src = (const unsigned char*)&sourceVal;
-	dest[0] = src[7];
-	dest[1] = src[6];
-	dest[2] = src[5];
-	dest[3] = src[4];
-	dest[4] = src[3];
-	dest[5] = src[2];
-	dest[6] = src[1];
-	dest[7] = src[0];
-#else
-	unsigned char* dest = (unsigned char*)&destVal;
-	const unsigned char* src = (const unsigned char*)&sourceVal;
-	dest[0] = src[3];
-	dest[1] = src[2];
-	dest[2] = src[1];
-	dest[3] = src[0];
-#endif  //BT_USE_DOUBLE_PRECISION
-}
-///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
-SIMD_FORCE_INLINE void btSwapVector3Endian(const btVector3& sourceVec, btVector3& destVec)
-{
-	for (int i = 0; i < 4; i++)
-	{
-		btSwapScalarEndian(sourceVec[i], destVec[i]);
-	}
-}
-
-///btUnSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
-SIMD_FORCE_INLINE void btUnSwapVector3Endian(btVector3& vector)
-{
-	btVector3 swappedVec;
-	for (int i = 0; i < 4; i++)
-	{
-		btSwapScalarEndian(vector[i], swappedVec[i]);
-	}
-	vector = swappedVec;
-}
-
-template <class T>
-SIMD_FORCE_INLINE void btPlaneSpace1(const T& n, T& p, T& q)
-{
-	if (btFabs(n[2]) > SIMDSQRT12)
-	{
-		// choose p in y-z plane
-		btScalar a = n[1] * n[1] + n[2] * n[2];
-		btScalar k = btRecipSqrt(a);
-		p[0] = 0;
-		p[1] = -n[2] * k;
-		p[2] = n[1] * k;
-		// set q = n x p
-		q[0] = a * k;
-		q[1] = -n[0] * p[2];
-		q[2] = n[0] * p[1];
-	}
-	else
-	{
-		// choose p in x-y plane
-		btScalar a = n[0] * n[0] + n[1] * n[1];
-		btScalar k = btRecipSqrt(a);
-		p[0] = -n[1] * k;
-		p[1] = n[0] * k;
-		p[2] = 0;
-		// set q = n x p
-		q[0] = -n[2] * p[1];
-		q[1] = n[2] * p[0];
-		q[2] = a * k;
-	}
-}
-
-struct btVector3FloatData
-{
-	float m_floats[4];
-};
-
-struct btVector3DoubleData
-{
-	double m_floats[4];
-};
-
-SIMD_FORCE_INLINE void btVector3::serializeFloat(struct btVector3FloatData& dataOut) const
-{
-	///could also do a memcpy, check if it is worth it
-	for (int i = 0; i < 4; i++)
-		dataOut.m_floats[i] = float(m_floats[i]);
-}
-
-SIMD_FORCE_INLINE void btVector3::deSerializeFloat(const struct btVector3FloatData& dataIn)
-{
-	for (int i = 0; i < 4; i++)
-		m_floats[i] = btScalar(dataIn.m_floats[i]);
-}
-
-SIMD_FORCE_INLINE void btVector3::serializeDouble(struct btVector3DoubleData& dataOut) const
-{
-	///could also do a memcpy, check if it is worth it
-	for (int i = 0; i < 4; i++)
-		dataOut.m_floats[i] = double(m_floats[i]);
-}
-
-SIMD_FORCE_INLINE void btVector3::deSerializeDouble(const struct btVector3DoubleData& dataIn)
-{
-	for (int i = 0; i < 4; i++)
-		m_floats[i] = btScalar(dataIn.m_floats[i]);
-}
-
-SIMD_FORCE_INLINE void btVector3::serialize(struct btVector3Data& dataOut) const
-{
-	///could also do a memcpy, check if it is worth it
-	for (int i = 0; i < 4; i++)
-		dataOut.m_floats[i] = m_floats[i];
-}
-
-SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3FloatData& dataIn)
-{
-	for (int i = 0; i < 4; i++)
-		m_floats[i] = (btScalar)dataIn.m_floats[i];
-}
-
-SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3DoubleData& dataIn)
-{
-	for (int i = 0; i < 4; i++)
-		m_floats[i] = (btScalar)dataIn.m_floats[i];
-}
-
-#endif  //BT_VECTOR3_H