Merge pull request #12641 from AndreaCatania/bullet

Bullet physics wrapper

29 files changed, 9625 insertions, 0 deletions

diff --git a/thirdparty/bullet/src/Bullet3Common/CMakeLists.txt b/thirdparty/bullet/src/Bullet3Common/CMakeLists.txt
new file mode 100644
index 0000000000..e899e67d94
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/CMakeLists.txt
@@ -0,0 +1,63 @@
+
+INCLUDE_DIRECTORIES(
+	${BULLET_PHYSICS_SOURCE_DIR}/src
+)
+
+SET(Bullet3Common_SRCS
+	b3AlignedAllocator.cpp
+	b3Vector3.cpp
+	b3Logging.cpp
+)
+
+SET(Bullet3Common_HDRS
+	b3AlignedAllocator.h
+	b3AlignedObjectArray.h
+	b3CommandLineArgs.h
+	b3HashMap.h
+	b3Logging.h
+	b3Matrix3x3.h
+	b3MinMax.h
+	b3PoolAllocator.h
+	b3QuadWord.h
+	b3Quaternion.h
+	b3Random.h
+	b3Scalar.h
+	b3StackAlloc.h
+	b3Transform.h
+	b3TransformUtil.h
+	b3Vector3.h
+	shared/b3Float4
+	shared/b3Int2.h
+	shared/b3Int4.h
+	shared/b3Mat3x3.h
+	shared/b3PlatformDefinitions
+	shared/b3Quat.h
+)
+
+ADD_LIBRARY(Bullet3Common ${Bullet3Common_SRCS} ${Bullet3Common_HDRS})
+SET_TARGET_PROPERTIES(Bullet3Common PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(Bullet3Common PROPERTIES SOVERSION ${BULLET_VERSION})
+
+IF (INSTALL_LIBS)
+	IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+		#FILES_MATCHING requires CMake 2.6
+		IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+			IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+				INSTALL(TARGETS Bullet3Common DESTINATION .)
+			ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+				INSTALL(TARGETS Bullet3Common
+					RUNTIME DESTINATION bin
+					LIBRARY DESTINATION lib${LIB_SUFFIX}
+					ARCHIVE DESTINATION lib${LIB_SUFFIX})
+				INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h"  PATTERN
+".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)
+			ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+		ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+
+		IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+			SET_TARGET_PROPERTIES(Bullet3Common PROPERTIES FRAMEWORK true)
+			SET_TARGET_PROPERTIES(Bullet3Common PROPERTIES PUBLIC_HEADER "${Bullet3Common_HDRS}")
+		ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+	ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+ENDIF (INSTALL_LIBS)
diff --git a/thirdparty/bullet/src/Bullet3Common/b3AlignedAllocator.cpp b/thirdparty/bullet/src/Bullet3Common/b3AlignedAllocator.cpp
new file mode 100644
index 0000000000..b98e2b4d33
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/b3AlignedAllocator.cpp
@@ -0,0 +1,181 @@
+/*
+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.
+*/
+
+#include "b3AlignedAllocator.h"
+
+int b3g_numAlignedAllocs = 0;
+int b3g_numAlignedFree = 0;
+int b3g_totalBytesAlignedAllocs = 0;//detect memory leaks
+
+static void *b3AllocDefault(size_t size)
+{
+	return malloc(size);
+}
+
+static void b3FreeDefault(void *ptr)
+{
+	free(ptr);
+}
+
+static b3AllocFunc* b3s_allocFunc = b3AllocDefault;
+static b3FreeFunc* b3s_freeFunc = b3FreeDefault;
+
+
+
+#if defined (B3_HAS_ALIGNED_ALLOCATOR)
+#include <malloc.h>
+static void *b3AlignedAllocDefault(size_t size, int alignment)
+{
+	return _aligned_malloc(size, (size_t)alignment);
+}
+
+static void b3AlignedFreeDefault(void *ptr)
+{
+	_aligned_free(ptr);
+}
+#elif defined(__CELLOS_LV2__)
+#include <stdlib.h>
+
+static inline void *b3AlignedAllocDefault(size_t size, int alignment)
+{
+	return memalign(alignment, size);
+}
+
+static inline void b3AlignedFreeDefault(void *ptr)
+{
+	free(ptr);
+}
+#else
+
+
+
+
+
+static inline void *b3AlignedAllocDefault(size_t size, int alignment)
+{
+  void *ret;
+  char *real;
+  real = (char *)b3s_allocFunc(size + sizeof(void *) + (alignment-1));
+  if (real) {
+	ret = b3AlignPointer(real + sizeof(void *),alignment);
+    *((void **)(ret)-1) = (void *)(real);
+  } else {
+    ret = (void *)(real);
+  }
+  return (ret);
+}
+
+static inline void b3AlignedFreeDefault(void *ptr)
+{
+  void* real;
+
+  if (ptr) {
+    real = *((void **)(ptr)-1);
+    b3s_freeFunc(real);
+  }
+}
+#endif
+
+
+static b3AlignedAllocFunc* b3s_alignedAllocFunc = b3AlignedAllocDefault;
+static b3AlignedFreeFunc* b3s_alignedFreeFunc = b3AlignedFreeDefault;
+
+void b3AlignedAllocSetCustomAligned(b3AlignedAllocFunc *allocFunc, b3AlignedFreeFunc *freeFunc)
+{
+  b3s_alignedAllocFunc = allocFunc ? allocFunc : b3AlignedAllocDefault;
+  b3s_alignedFreeFunc = freeFunc ? freeFunc : b3AlignedFreeDefault;
+}
+
+void b3AlignedAllocSetCustom(b3AllocFunc *allocFunc, b3FreeFunc *freeFunc)
+{
+  b3s_allocFunc = allocFunc ? allocFunc : b3AllocDefault;
+  b3s_freeFunc = freeFunc ? freeFunc : b3FreeDefault;
+}
+
+#ifdef B3_DEBUG_MEMORY_ALLOCATIONS
+//this generic allocator provides the total allocated number of bytes
+#include <stdio.h>
+
+void*   b3AlignedAllocInternal  (size_t size, int alignment,int line,char* filename)
+{
+ void *ret;
+ char *real;
+
+ b3g_totalBytesAlignedAllocs += size;
+ b3g_numAlignedAllocs++;
+
+ 
+ real = (char *)b3s_allocFunc(size + 2*sizeof(void *) + (alignment-1));
+ if (real) {
+   ret = (void*) b3AlignPointer(real + 2*sizeof(void *), alignment);
+   *((void **)(ret)-1) = (void *)(real);
+       *((int*)(ret)-2) = size;
+
+ } else {
+   ret = (void *)(real);//??
+ }
+
+ b3Printf("allocation#%d at address %x, from %s,line %d, size %d\n",b3g_numAlignedAllocs,real, filename,line,size);
+
+ int* ptr = (int*)ret;
+ *ptr = 12;
+ return (ret);
+}
+
+void    b3AlignedFreeInternal   (void* ptr,int line,char* filename)
+{
+
+ void* real;
+ b3g_numAlignedFree++;
+
+ if (ptr) {
+   real = *((void **)(ptr)-1);
+       int size = *((int*)(ptr)-2);
+       b3g_totalBytesAlignedAllocs -= size;
+
+	   b3Printf("free #%d at address %x, from %s,line %d, size %d\n",b3g_numAlignedFree,real, filename,line,size);
+
+   b3s_freeFunc(real);
+ } else
+ {
+	 b3Printf("NULL ptr\n");
+ }
+}
+
+#else //B3_DEBUG_MEMORY_ALLOCATIONS
+
+void*	b3AlignedAllocInternal	(size_t size, int alignment)
+{
+	b3g_numAlignedAllocs++;
+	void* ptr;
+	ptr = b3s_alignedAllocFunc(size, alignment);
+//	b3Printf("b3AlignedAllocInternal %d, %x\n",size,ptr);
+	return ptr;
+}
+
+void	b3AlignedFreeInternal	(void* ptr)
+{
+	if (!ptr)
+	{
+		return;
+	}
+
+	b3g_numAlignedFree++;
+//	b3Printf("b3AlignedFreeInternal %x\n",ptr);
+	b3s_alignedFreeFunc(ptr);
+}
+
+#endif //B3_DEBUG_MEMORY_ALLOCATIONS
+
diff --git a/thirdparty/bullet/src/Bullet3Common/b3AlignedAllocator.h b/thirdparty/bullet/src/Bullet3Common/b3AlignedAllocator.h
new file mode 100644
index 0000000000..be418bd55f
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/b3AlignedAllocator.h
@@ -0,0 +1,107 @@
+/*
+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.
+*/
+
+#ifndef B3_ALIGNED_ALLOCATOR
+#define B3_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 "b3Scalar.h"
+//#define B3_DEBUG_MEMORY_ALLOCATIONS 1
+#ifdef B3_DEBUG_MEMORY_ALLOCATIONS
+
+#define b3AlignedAlloc(a,b) \
+		b3AlignedAllocInternal(a,b,__LINE__,__FILE__)
+
+#define b3AlignedFree(ptr) \
+		b3AlignedFreeInternal(ptr,__LINE__,__FILE__)
+
+void*	b3AlignedAllocInternal	(size_t size, int alignment,int line,char* filename);
+
+void	b3AlignedFreeInternal	(void* ptr,int line,char* filename);
+
+#else
+	void*	b3AlignedAllocInternal	(size_t size, int alignment);
+	void	b3AlignedFreeInternal	(void* ptr);
+
+	#define b3AlignedAlloc(size,alignment) b3AlignedAllocInternal(size,alignment)
+	#define b3AlignedFree(ptr) b3AlignedFreeInternal(ptr)
+
+#endif
+typedef int	btSizeType;
+
+typedef void *(b3AlignedAllocFunc)(size_t size, int alignment);
+typedef void (b3AlignedFreeFunc)(void *memblock);
+typedef void *(b3AllocFunc)(size_t size);
+typedef void (b3FreeFunc)(void *memblock);
+
+///The developer can let all Bullet memory allocations go through a custom memory allocator, using b3AlignedAllocSetCustom
+void b3AlignedAllocSetCustom(b3AllocFunc *allocFunc, b3FreeFunc *freeFunc);
+///If the developer has already an custom aligned allocator, then b3AlignedAllocSetCustomAligned can be used. The default aligned allocator pre-allocates extra memory using the non-aligned allocator, and instruments it.
+void b3AlignedAllocSetCustomAligned(b3AlignedAllocFunc *allocFunc, b3AlignedFreeFunc *freeFunc);
+
+
+///The b3AlignedAllocator is a portable class for aligned memory allocations.
+///Default implementations for unaligned and aligned allocations can be overridden by a custom allocator using b3AlignedAllocSetCustom and b3AlignedAllocSetCustomAligned.
+template < typename T , unsigned Alignment >
+class b3AlignedAllocator {
+	
+	typedef b3AlignedAllocator< T , Alignment > self_type;
+	
+public:
+
+	//just going down a list:
+	b3AlignedAllocator() {}
+	/*
+	b3AlignedAllocator( const self_type & ) {}
+	*/
+
+	template < typename Other >
+	b3AlignedAllocator( const b3AlignedAllocator< 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  ( btSizeType        n   , const_pointer *      hint = 0 ) {
+		(void)hint;
+		return reinterpret_cast< pointer >(b3AlignedAlloc( sizeof(value_type) * n , Alignment ));
+	}
+	void          construct ( pointer          ptr , const value_type &   value    ) { new (ptr) value_type( value ); }
+	void          deallocate( pointer          ptr ) {
+		b3AlignedFree( reinterpret_cast< void * >( ptr ) );
+	}
+	void          destroy   ( pointer          ptr )                                 { ptr->~value_type(); }
+	
+
+	template < typename O > struct rebind {
+		typedef b3AlignedAllocator< O , Alignment > other;
+	};
+	template < typename O >
+	self_type & operator=( const b3AlignedAllocator< O , Alignment > & ) { return *this; }
+
+	friend bool operator==( const self_type & , const self_type & ) { return true; }
+};
+
+
+
+#endif //B3_ALIGNED_ALLOCATOR
+
diff --git a/thirdparty/bullet/src/Bullet3Common/b3AlignedObjectArray.h b/thirdparty/bullet/src/Bullet3Common/b3AlignedObjectArray.h
new file mode 100644
index 0000000000..947362d08e
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/b3AlignedObjectArray.h
@@ -0,0 +1,533 @@
+/*
+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.
+*/
+
+
+#ifndef B3_OBJECT_ARRAY__
+#define B3_OBJECT_ARRAY__
+
+#include "b3Scalar.h" // has definitions like B3_FORCE_INLINE
+#include "b3AlignedAllocator.h"
+
+///If the platform doesn't support placement new, you can disable B3_USE_PLACEMENT_NEW
+///then the b3AlignedObjectArray doesn't support objects with virtual methods, and non-trivial constructors/destructors
+///You can enable B3_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 B3_USE_PLACEMENT_NEW 1
+//#define B3_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 B3_ALLOW_ARRAY_COPY_OPERATOR // enabling this can accidently perform deep copies of data if you are not careful
+
+#ifdef B3_USE_MEMCPY
+#include <memory.h>
+#include <string.h>
+#endif //B3_USE_MEMCPY
+
+#ifdef B3_USE_PLACEMENT_NEW
+#include <new> //for placement new
+#endif //B3_USE_PLACEMENT_NEW
+
+
+///The b3AlignedObjectArray 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 b3AlignedObjectArray
+{
+	b3AlignedAllocator<T , 16>	m_allocator;
+
+	int					m_size;
+	int					m_capacity;
+	T*					m_data;
+	//PCK: added this line
+	bool				m_ownsMemory;
+
+#ifdef B3_ALLOW_ARRAY_COPY_OPERATOR
+public:
+	B3_FORCE_INLINE b3AlignedObjectArray<T>& operator=(const b3AlignedObjectArray<T> &other)
+	{
+		copyFromArray(other);
+		return *this;
+	}
+#else//B3_ALLOW_ARRAY_COPY_OPERATOR
+private:
+		B3_FORCE_INLINE b3AlignedObjectArray<T>& operator=(const b3AlignedObjectArray<T> &other);
+#endif//B3_ALLOW_ARRAY_COPY_OPERATOR
+
+protected:
+		B3_FORCE_INLINE	int	allocSize(int size)
+		{
+			return (size ? size*2 : 1);
+		}
+		B3_FORCE_INLINE	void	copy(int start,int end, T* dest) const
+		{
+			int i;
+			for (i=start;i<end;++i)
+#ifdef B3_USE_PLACEMENT_NEW
+				new (&dest[i]) T(m_data[i]);
+#else
+				dest[i] = m_data[i];
+#endif //B3_USE_PLACEMENT_NEW
+		}
+
+		B3_FORCE_INLINE	void	init()
+		{
+			//PCK: added this line
+			m_ownsMemory = true;
+			m_data = 0;
+			m_size = 0;
+			m_capacity = 0;
+		}
+		B3_FORCE_INLINE	void	destroy(int first,int last)
+		{
+			int i;
+			for (i=first; i<last;i++)
+			{
+				m_data[i].~T();
+			}
+		}
+
+		B3_FORCE_INLINE	void* allocate(int size)
+		{
+			if (size)
+				return m_allocator.allocate(size);
+			return 0;
+		}
+
+		B3_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:
+		
+		b3AlignedObjectArray()
+		{
+			init();
+		}
+
+		~b3AlignedObjectArray()
+		{
+			clear();
+		}
+
+		///Generally it is best to avoid using the copy constructor of an b3AlignedObjectArray, and use a (const) reference to the array instead.
+		b3AlignedObjectArray(const b3AlignedObjectArray& otherArray)
+		{
+			init();
+
+			int otherSize = otherArray.size();
+			resize (otherSize);
+			otherArray.copy(0, otherSize, m_data);
+		}
+
+		
+		
+		/// return the number of elements in the array
+		B3_FORCE_INLINE	int size() const
+		{	
+			return m_size;
+		}
+		
+		B3_FORCE_INLINE const T& at(int n) const
+		{
+			b3Assert(n>=0);
+			b3Assert(n<size());
+			return m_data[n];
+		}
+
+		B3_FORCE_INLINE T& at(int n)
+		{
+			b3Assert(n>=0);
+			b3Assert(n<size());
+			return m_data[n];
+		}
+
+		B3_FORCE_INLINE const T& operator[](int n) const
+		{
+			b3Assert(n>=0);
+			b3Assert(n<size());
+			return m_data[n];
+		}
+
+		B3_FORCE_INLINE T& operator[](int n)
+		{
+			b3Assert(n>=0);
+			b3Assert(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.
+		B3_FORCE_INLINE	void	clear()
+		{
+			destroy(0,size());
+			
+			deallocate();
+			
+			init();
+		}
+
+		B3_FORCE_INLINE	void	pop_back()
+		{
+			b3Assert(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.
+		B3_FORCE_INLINE	void	resizeNoInitialize(int newsize)
+		{
+			int curSize = size();
+
+			if (newsize < curSize)
+			{
+			} else
+			{
+				if (newsize > size())
+				{
+					reserve(newsize);
+				}
+				//leave this uninitialized
+			}
+			m_size = newsize;
+		}
+	
+		B3_FORCE_INLINE	void	resize(int newsize, const T& fillData=T())
+		{
+			int curSize = size();
+
+			if (newsize < curSize)
+			{
+				for(int i = newsize; i < curSize; i++)
+				{
+					m_data[i].~T();
+				}
+			} else
+			{
+				if (newsize > size())
+				{
+					reserve(newsize);
+				}
+#ifdef B3_USE_PLACEMENT_NEW
+				for (int i=curSize;i<newsize;i++)
+				{
+					new ( &m_data[i]) T(fillData);
+				}
+#endif //B3_USE_PLACEMENT_NEW
+
+			}
+
+			m_size = newsize;
+		}
+		B3_FORCE_INLINE	T&  expandNonInitializing( )
+		{	
+			int sz = size();
+			if( sz == capacity() )
+			{
+				reserve( allocSize(size()) );
+			}
+			m_size++;
+
+			return m_data[sz];		
+		}
+
+
+		B3_FORCE_INLINE	T&  expand( const T& fillValue=T())
+		{	
+			int sz = size();
+			if( sz == capacity() )
+			{
+				reserve( allocSize(size()) );
+			}
+			m_size++;
+#ifdef B3_USE_PLACEMENT_NEW
+			new (&m_data[sz]) T(fillValue); //use the in-place new (not really allocating heap memory)
+#endif
+
+			return m_data[sz];		
+		}
+
+
+		B3_FORCE_INLINE	void push_back(const T& _Val)
+		{	
+			int sz = size();
+			if( sz == capacity() )
+			{
+				reserve( allocSize(size()) );
+			}
+			
+#ifdef B3_USE_PLACEMENT_NEW
+			new ( &m_data[m_size] ) T(_Val);
+#else
+			m_data[size()] = _Val;			
+#endif //B3_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()
+		B3_FORCE_INLINE	int capacity() const
+		{	
+			return m_capacity;
+		}
+		
+		B3_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);
+				b3Assert(s);
+				if (s==0)
+				{
+					b3Error("b3AlignedObjectArray reserve out-of-memory\n");
+					_Count=0;
+					m_size=0;
+				}
+				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 )
+				{
+					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 B3_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 //B3_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;
+	}
+    
+    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	remove(const T& key)
+	{
+
+		int findIndex = findLinearSearch(key);
+		if (findIndex<size())
+		{
+			swap( findIndex,size()-1);
+			pop_back();
+		}
+	}
+
+	//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 b3AlignedObjectArray& otherArray)
+	{
+		int otherSize = otherArray.size();
+		resize (otherSize);
+		otherArray.copy(0, otherSize, m_data);
+	}
+
+};
+
+#endif //B3_OBJECT_ARRAY__
diff --git a/thirdparty/bullet/src/Bullet3Common/b3CommandLineArgs.h b/thirdparty/bullet/src/Bullet3Common/b3CommandLineArgs.h
new file mode 100644
index 0000000000..38df8e2600
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/b3CommandLineArgs.h
@@ -0,0 +1,101 @@
+#ifndef COMMAND_LINE_ARGS_H
+#define COMMAND_LINE_ARGS_H
+
+/******************************************************************************
+ * Command-line parsing
+ ******************************************************************************/
+#include <map>
+#include <algorithm>
+#include <string>
+#include <cstring>
+#include <sstream>
+class b3CommandLineArgs
+{
+protected:
+
+	std::map<std::string, std::string> pairs;
+
+public:
+
+	// Constructor
+	b3CommandLineArgs(int argc, char **argv)
+	{
+		addArgs(argc,argv);
+	}
+
+	void addArgs(int argc, char**argv)
+	{
+	    for (int i = 1; i < argc; i++)
+	    {
+	        std::string arg = argv[i];
+
+			if ((arg.length() < 2) || (arg[0] != '-') || (arg[1] != '-')) {
+	        	continue;
+	        }
+
+        	std::string::size_type pos;
+		    std::string key, val;
+	        if ((pos = arg.find( '=')) == std::string::npos) {
+	        	key = std::string(arg, 2, arg.length() - 2);
+	        	val = "";
+	        } else {
+	        	key = std::string(arg, 2, pos - 2);
+	        	val = std::string(arg, pos + 1, arg.length() - 1);
+	        }
+			
+			//only add new keys, don't replace existing
+			if(pairs.find(key) == pairs.end())
+			{
+        		pairs[key] = val;
+			}
+	    }
+	}
+
+	bool CheckCmdLineFlag(const char* arg_name)
+	{
+		std::map<std::string, std::string>::iterator itr;
+		if ((itr = pairs.find(arg_name)) != pairs.end()) {
+			return true;
+	    }
+		return false;
+	}
+
+	template <typename T>
+	bool GetCmdLineArgument(const char *arg_name, T &val);
+
+	int ParsedArgc()
+	{
+		return pairs.size();
+	}
+};
+
+template <typename T>
+inline bool b3CommandLineArgs::GetCmdLineArgument(const char *arg_name, T &val)
+{
+	std::map<std::string, std::string>::iterator itr;
+	if ((itr = pairs.find(arg_name)) != pairs.end()) {
+		std::istringstream strstream(itr->second);
+		strstream >> val;
+		return true;
+    }
+	return false;
+}
+
+template <>
+inline bool b3CommandLineArgs::GetCmdLineArgument<char*>(const char* arg_name, char* &val)
+{
+	std::map<std::string, std::string>::iterator itr;
+	if ((itr = pairs.find(arg_name)) != pairs.end()) {
+
+		std::string s = itr->second;
+		val = (char*) malloc(sizeof(char) * (s.length() + 1));
+		std::strcpy(val, s.c_str());
+		return true;
+	} else {
+    	val = NULL;
+	}
+	return false;
+}
+
+
+#endif //COMMAND_LINE_ARGS_H
diff --git a/thirdparty/bullet/src/Bullet3Common/b3FileUtils.h b/thirdparty/bullet/src/Bullet3Common/b3FileUtils.h
new file mode 100644
index 0000000000..1a331029ea
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/b3FileUtils.h
@@ -0,0 +1,138 @@
+#ifndef B3_FILE_UTILS_H
+#define B3_FILE_UTILS_H
+
+#include <stdio.h>
+#include "b3Scalar.h"
+#include <stddef.h>//ptrdiff_h
+#include <string.h>
+
+struct b3FileUtils
+{
+	b3FileUtils()
+	{
+	}
+	virtual ~b3FileUtils()
+	{
+	}
+
+	static bool findFile(const char* orgFileName, char* relativeFileName, int maxRelativeFileNameMaxLen)
+	{
+		FILE* f=0;
+		f = fopen(orgFileName,"rb");
+                if (f)
+                {
+			//printf("original file found: [%s]\n", orgFileName);
+			sprintf(relativeFileName,"%s", orgFileName);
+			fclose(f);
+			return true;
+		}
+
+		//printf("Trying various directories, relative to current working directory\n");	
+			const char* prefix[]={"./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
+			int numPrefixes = sizeof(prefix)/sizeof(const char*);
+	
+			f=0;
+			bool fileFound = false;
+
+			for (int i=0;!f && i<numPrefixes;i++)
+			{
+#ifdef _WIN32
+				sprintf_s(relativeFileName,maxRelativeFileNameMaxLen,"%s%s",prefix[i],orgFileName);
+#else
+				sprintf(relativeFileName,"%s%s",prefix[i],orgFileName);
+#endif
+				f = fopen(relativeFileName,"rb");
+				if (f)
+				{
+					fileFound = true;
+					break;
+				}
+			}
+			if (f)
+			{
+				fclose(f);
+			}
+	
+		return fileFound;
+	}
+
+	static const char* strip2(const char* name, const char* pattern)
+	{
+		size_t const patlen = strlen(pattern);
+		size_t patcnt = 0;
+		const char * oriptr;
+		const char * patloc;
+		// find how many times the pattern occurs in the original string
+		for (oriptr = name; (patloc = strstr(oriptr, pattern)); oriptr = patloc + patlen)
+		{
+			patcnt++;
+		}
+		return oriptr;
+	}
+
+	
+
+	static int extractPath(const char* fileName, char* path, int maxPathLength)
+	{
+		const char* stripped = strip2(fileName, "/");
+		stripped = strip2(stripped, "\\");
+
+		ptrdiff_t len = stripped-fileName;
+		b3Assert((len+1)<maxPathLength);
+
+		if (len && ((len+1)<maxPathLength))
+		{
+
+			for (int i=0;i<len;i++)
+			{
+				path[i] = fileName[i];
+			}
+			path[len]=0;
+		} else
+		{
+			len = 0;
+			b3Assert(maxPathLength>0);
+			if (maxPathLength>0)
+			{
+				path[len] = 0;
+			}
+		}
+		return len;
+	}
+
+	static char toLowerChar(const char t)
+	{
+		if (t>=(char)'A' && t<=(char)'Z')
+			return t + ((char)'a' - (char)'A');
+		else
+			return t;
+	}
+
+
+	static void toLower(char* str)
+	{
+		int len=strlen(str);
+		for (int i=0;i<len;i++)
+		{
+			str[i] = toLowerChar(str[i]);
+		}
+	}
+
+
+	/*static const char* strip2(const char* name, const char* pattern)
+	{
+		size_t const patlen = strlen(pattern);
+		size_t patcnt = 0;
+		const char * oriptr;
+		const char * patloc;
+		// find how many times the pattern occurs in the original string
+		for (oriptr = name; patloc = strstr(oriptr, pattern); oriptr = patloc + patlen)
+		{
+			patcnt++;
+		}
+		return oriptr;
+	}
+	*/
+
+};
+#endif //B3_FILE_UTILS_H
diff --git a/thirdparty/bullet/src/Bullet3Common/b3HashMap.h b/thirdparty/bullet/src/Bullet3Common/b3HashMap.h
new file mode 100644
index 0000000000..24a59d9baa
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/b3HashMap.h
@@ -0,0 +1,466 @@
+/*
+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.
+*/
+
+
+#ifndef B3_HASH_MAP_H
+#define B3_HASH_MAP_H
+
+#include "b3AlignedObjectArray.h"
+
+
+#include <string>
+
+///very basic hashable string implementation, compatible with b3HashMap
+struct b3HashString
+{
+	std::string m_string;
+	unsigned int	m_hash;
+
+	B3_FORCE_INLINE	unsigned int getHash()const
+	{
+		return m_hash;
+	}
+
+
+	b3HashString(const char* name)
+		:m_string(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;
+		int len = m_string.length();
+		for(int i = 0; i<len; i++)
+		{
+			hash = hash ^ (m_string[i]);       /* xor  the low 8 bits */
+			hash = hash * FNVMultiple;  /* multiply by the magic number */
+		}
+		m_hash = hash;
+	}
+
+	int portableStringCompare(const char* src,	const char* dst) const
+	{
+			int ret = 0 ;
+
+			while( ! (ret = *(unsigned char *)src - *(unsigned char *)dst) && *dst)
+					++src, ++dst;
+
+			if ( ret < 0 )
+					ret = -1 ;
+			else if ( ret > 0 )
+					ret = 1 ;
+
+			return( ret );
+	}
+
+	bool equals(const b3HashString& other) const
+	{
+		return (m_string == other.m_string);
+	}
+
+};
+
+
+const int B3_HASH_NULL=0xffffffff;
+
+
+class b3HashInt
+{
+	int	m_uid;
+public:
+	b3HashInt(int uid)	:m_uid(uid)
+	{
+	}
+
+	int	getUid1() const
+	{
+		return m_uid;
+	}
+
+	void	setUid1(int uid)
+	{
+		m_uid = uid;
+	}
+
+	bool equals(const b3HashInt& other) const
+	{
+		return getUid1() == other.getUid1();
+	}
+	//to our success
+	B3_FORCE_INLINE	unsigned int getHash()const
+	{
+		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 b3HashPtr
+{
+
+	union
+	{
+		const void*	m_pointer;
+		int	m_hashValues[2];
+	};
+
+public:
+
+	b3HashPtr(const void* ptr)
+		:m_pointer(ptr)
+	{
+	}
+
+	const void*	getPointer() const
+	{
+		return m_pointer;
+	}
+
+	bool equals(const b3HashPtr& other) const
+	{
+		return getPointer() == other.getPointer();
+	}
+
+	//to our success
+	B3_FORCE_INLINE	unsigned int getHash()const
+	{
+		const bool VOID_IS_8 = ((sizeof(void*)==8));
+		
+		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 b3HashKeyPtr
+{
+        int     m_uid;
+public:
+
+        b3HashKeyPtr(int uid)    :m_uid(uid)
+        {
+        }
+
+        int     getUid1() const
+        {
+                return m_uid;
+        }
+
+        bool equals(const b3HashKeyPtr<Value>& other) const
+        {
+                return getUid1() == other.getUid1();
+        }
+
+        //to our success
+        B3_FORCE_INLINE       unsigned int getHash()const
+        {
+                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 b3HashKey
+{
+	int	m_uid;
+public:
+
+	b3HashKey(int uid)	:m_uid(uid)
+	{
+	}
+
+	int	getUid1() const
+	{
+		return m_uid;
+	}
+
+	bool equals(const b3HashKey<Value>& other) const
+	{
+		return getUid1() == other.getUid1();
+	}
+	//to our success
+	B3_FORCE_INLINE	unsigned int getHash()const
+	{
+		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 b3HashMap template class implements a generic and lightweight hashmap.
+///A basic sample of how to use b3HashMap is located in Demos\BasicDemo\main.cpp
+template <class Key, class Value>
+class b3HashMap
+{
+
+protected:
+	b3AlignedObjectArray<int>		m_hashTable;
+	b3AlignedObjectArray<int>		m_next;
+	
+	b3AlignedObjectArray<Value>		m_valueArray;
+	b3AlignedObjectArray<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] = B3_HASH_NULL;
+			}
+			for (i = 0; i < newCapacity; ++i)
+			{
+				m_next[i] = B3_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 != B3_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 ==B3_HASH_NULL)
+		{
+			return;
+		}
+
+		// Remove the pair from the hash table.
+		int index = m_hashTable[hash];
+		b3Assert(index != B3_HASH_NULL);
+
+		int previous = B3_HASH_NULL;
+		while (index != pairIndex)
+		{
+			previous = index;
+			index = m_next[index];
+		}
+
+		if (previous != B3_HASH_NULL)
+		{
+			b3Assert(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];
+		b3Assert(index != B3_HASH_NULL);
+
+		previous = B3_HASH_NULL;
+		while (index != lastPairIndex)
+		{
+			previous = index;
+			index = m_next[index];
+		}
+
+		if (previous != B3_HASH_NULL)
+		{
+			b3Assert(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
+	{
+		b3Assert(index < m_valueArray.size());
+
+		return &m_valueArray[index];
+	}
+
+	Value* getAtIndex(int index)
+	{
+		b3Assert(index < m_valueArray.size());
+
+		return &m_valueArray[index];
+	}
+
+	 Key getKeyAtIndex(int index)
+    {
+        b3Assert(index < m_keyArray.size());
+        return m_keyArray[index];
+    }
+    
+    const Key getKeyAtIndex(int index) const
+    {
+        b3Assert(index < m_keyArray.size());
+        return m_keyArray[index];
+    }
+
+	Value* operator[](const Key& key) {
+		return find(key);
+	}
+
+	const Value*	find(const Key& key) const
+	{
+		int index = findIndex(key);
+		if (index == B3_HASH_NULL)
+		{
+			return NULL;
+		}
+		return &m_valueArray[index];
+	}
+
+	Value*	find(const Key& key)
+	{
+		int index = findIndex(key);
+		if (index == B3_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 B3_HASH_NULL;
+		}
+
+		int index = m_hashTable[hash];
+		while ((index != B3_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 //B3_HASH_MAP_H
diff --git a/thirdparty/bullet/src/Bullet3Common/b3Logging.cpp b/thirdparty/bullet/src/Bullet3Common/b3Logging.cpp
new file mode 100644
index 0000000000..a8e9507155
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/b3Logging.cpp
@@ -0,0 +1,160 @@
+/*
+Copyright (c) 2013 Advanced Micro Devices, Inc.  
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+//Originally written by Erwin Coumans
+
+#include "b3Logging.h"
+
+#include <stdio.h>
+#include <stdarg.h>
+
+#ifdef _WIN32
+#include <windows.h>
+#endif //_WIN32
+
+
+void b3PrintfFuncDefault(const char* msg)
+{
+#ifdef _WIN32
+	OutputDebugStringA(msg);
+#endif
+	printf("%s",msg);
+    //is this portable?
+    fflush(stdout);
+}
+
+void b3WarningMessageFuncDefault(const char* msg)
+{
+#ifdef _WIN32
+	OutputDebugStringA(msg);
+#endif
+	printf("%s",msg);
+    //is this portable?
+    fflush(stdout);
+
+}
+
+
+void b3ErrorMessageFuncDefault(const char* msg)
+{
+#ifdef _WIN32
+	OutputDebugStringA(msg);
+#endif
+	printf("%s",msg);
+
+    //is this portable?
+    fflush(stdout);
+    
+}
+
+
+
+static b3PrintfFunc* b3s_printfFunc = b3PrintfFuncDefault;
+static b3WarningMessageFunc* b3s_warningMessageFunc = b3WarningMessageFuncDefault;
+static b3ErrorMessageFunc* b3s_errorMessageFunc = b3ErrorMessageFuncDefault;
+
+
+///The developer can route b3Printf output using their own implementation
+void b3SetCustomPrintfFunc(b3PrintfFunc* printfFunc)
+{
+	b3s_printfFunc = printfFunc;
+}
+void b3SetCustomWarningMessageFunc(b3PrintfFunc* warningMessageFunc)
+{
+	b3s_warningMessageFunc = warningMessageFunc;
+}
+void b3SetCustomErrorMessageFunc(b3PrintfFunc* errorMessageFunc)
+{
+	b3s_errorMessageFunc = errorMessageFunc;
+}
+
+//#define B3_MAX_DEBUG_STRING_LENGTH 2048
+#define B3_MAX_DEBUG_STRING_LENGTH 32768
+
+
+void b3OutputPrintfVarArgsInternal(const char *str, ...)
+{
+    char strDebug[B3_MAX_DEBUG_STRING_LENGTH]={0};
+    va_list argList;
+    va_start(argList, str);
+#ifdef _MSC_VER
+    vsprintf_s(strDebug,B3_MAX_DEBUG_STRING_LENGTH,str,argList);
+#else
+    vsnprintf(strDebug,B3_MAX_DEBUG_STRING_LENGTH,str,argList);
+#endif
+        (b3s_printfFunc)(strDebug);
+    va_end(argList);    
+}
+void b3OutputWarningMessageVarArgsInternal(const char *str, ...)
+{
+    char strDebug[B3_MAX_DEBUG_STRING_LENGTH]={0};
+    va_list argList;
+    va_start(argList, str);
+#ifdef _MSC_VER
+    vsprintf_s(strDebug,B3_MAX_DEBUG_STRING_LENGTH,str,argList);
+#else
+    vsnprintf(strDebug,B3_MAX_DEBUG_STRING_LENGTH,str,argList);
+#endif
+        (b3s_warningMessageFunc)(strDebug);
+    va_end(argList);    
+}
+void b3OutputErrorMessageVarArgsInternal(const char *str, ...)
+{
+	
+    char strDebug[B3_MAX_DEBUG_STRING_LENGTH]={0};
+    va_list argList;
+    va_start(argList, str);
+#ifdef _MSC_VER
+    vsprintf_s(strDebug,B3_MAX_DEBUG_STRING_LENGTH,str,argList);
+#else
+    vsnprintf(strDebug,B3_MAX_DEBUG_STRING_LENGTH,str,argList);
+#endif
+        (b3s_errorMessageFunc)(strDebug);
+    va_end(argList);    
+
+}
+
+
+void	b3EnterProfileZoneDefault(const char* name)
+{
+}
+void	b3LeaveProfileZoneDefault()
+{
+}
+static b3EnterProfileZoneFunc* b3s_enterFunc = b3EnterProfileZoneDefault;
+static b3LeaveProfileZoneFunc* b3s_leaveFunc = b3LeaveProfileZoneDefault;
+void b3EnterProfileZone(const char* name)
+{
+	(b3s_enterFunc)(name);
+}
+void b3LeaveProfileZone()
+{
+	(b3s_leaveFunc)();
+}
+
+void b3SetCustomEnterProfileZoneFunc(b3EnterProfileZoneFunc* enterFunc)
+{
+	b3s_enterFunc = enterFunc;
+}
+void b3SetCustomLeaveProfileZoneFunc(b3LeaveProfileZoneFunc* leaveFunc)
+{
+	b3s_leaveFunc = leaveFunc;
+}
+
+
+
+
+#ifndef _MSC_VER
+#undef vsprintf_s
+#endif
+
diff --git a/thirdparty/bullet/src/Bullet3Common/b3Logging.h b/thirdparty/bullet/src/Bullet3Common/b3Logging.h
new file mode 100644
index 0000000000..b302effe43
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/b3Logging.h
@@ -0,0 +1,77 @@
+
+#ifndef B3_LOGGING_H
+#define B3_LOGGING_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+    
+///We add the do/while so that the statement "if (condition) b3Printf("test"); else {...}" would fail
+///You can also customize the message by uncommenting out a different line below
+#define b3Printf(...) b3OutputPrintfVarArgsInternal(__VA_ARGS__)
+//#define b3Printf(...) do {b3OutputPrintfVarArgsInternal("b3Printf[%s,%d]:",__FILE__,__LINE__);b3OutputPrintfVarArgsInternal(__VA_ARGS__); } while(0)
+//#define b3Printf b3OutputPrintfVarArgsInternal
+//#define b3Printf(...) printf(__VA_ARGS__)
+//#define b3Printf(...)
+
+#define b3Warning(...) do {b3OutputWarningMessageVarArgsInternal("b3Warning[%s,%d]:\n",__FILE__,__LINE__);b3OutputWarningMessageVarArgsInternal(__VA_ARGS__); }while(0)
+#define b3Error(...) do {b3OutputErrorMessageVarArgsInternal("b3Error[%s,%d]:\n",__FILE__,__LINE__);b3OutputErrorMessageVarArgsInternal(__VA_ARGS__); } while(0)
+
+
+#ifndef B3_NO_PROFILE
+
+void b3EnterProfileZone(const char* name);
+void b3LeaveProfileZone();
+#ifdef __cplusplus
+
+class	b3ProfileZone
+{
+public:
+	b3ProfileZone(const char* name)
+	{ 
+		b3EnterProfileZone( name ); 
+	}
+
+	~b3ProfileZone()
+	{ 
+		b3LeaveProfileZone(); 
+	}
+};
+
+#define	B3_PROFILE( name )			b3ProfileZone __profile( name )
+#endif
+
+#else //B3_NO_PROFILE
+
+#define	B3_PROFILE( name )
+#define b3StartProfile(a)
+#define b3StopProfile
+
+#endif //#ifndef B3_NO_PROFILE
+
+
+typedef void (b3PrintfFunc)(const char* msg);
+typedef void (b3WarningMessageFunc)(const char* msg);
+typedef void (b3ErrorMessageFunc)(const char* msg);
+typedef void (b3EnterProfileZoneFunc)(const char* msg);
+typedef void (b3LeaveProfileZoneFunc)();
+
+///The developer can route b3Printf output using their own implementation
+void b3SetCustomPrintfFunc(b3PrintfFunc* printfFunc);
+void b3SetCustomWarningMessageFunc(b3WarningMessageFunc* warningMsgFunc);
+void b3SetCustomErrorMessageFunc(b3ErrorMessageFunc* errorMsgFunc);
+
+///Set custom profile zone functions (zones can be nested)
+void b3SetCustomEnterProfileZoneFunc(b3EnterProfileZoneFunc* enterFunc);
+void b3SetCustomLeaveProfileZoneFunc(b3LeaveProfileZoneFunc* leaveFunc);
+
+///Don't use those internal functions directly, use the b3Printf or b3SetCustomPrintfFunc instead (or warning/error version)
+void b3OutputPrintfVarArgsInternal(const char *str, ...);
+void b3OutputWarningMessageVarArgsInternal(const char *str, ...);
+void b3OutputErrorMessageVarArgsInternal(const char *str, ...);
+
+#ifdef __cplusplus
+    }
+#endif
+
+#endif//B3_LOGGING_H
\ No newline at end of file
diff --git a/thirdparty/bullet/src/Bullet3Common/b3Matrix3x3.h b/thirdparty/bullet/src/Bullet3Common/b3Matrix3x3.h
new file mode 100644
index 0000000000..89b57cf59a
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/b3Matrix3x3.h
@@ -0,0 +1,1362 @@
+/*
+Copyright (c) 2003-2013 Gino van den Bergen / 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	B3_MATRIX3x3_H
+#define B3_MATRIX3x3_H
+
+#include "b3Vector3.h"
+#include "b3Quaternion.h"
+#include <stdio.h>
+
+#ifdef B3_USE_SSE
+//const __m128 B3_ATTRIBUTE_ALIGNED16(b3v2220) = {2.0f, 2.0f, 2.0f, 0.0f};
+const __m128 B3_ATTRIBUTE_ALIGNED16(b3vMPPP) = {-0.0f, +0.0f, +0.0f, +0.0f};
+#endif
+
+#if defined(B3_USE_SSE) || defined(B3_USE_NEON)
+const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(b3v1000) = {1.0f, 0.0f, 0.0f, 0.0f};
+const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(b3v0100) = {0.0f, 1.0f, 0.0f, 0.0f};
+const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(b3v0010) = {0.0f, 0.0f, 1.0f, 0.0f};
+#endif
+
+#ifdef B3_USE_DOUBLE_PRECISION
+#define b3Matrix3x3Data	b3Matrix3x3DoubleData 
+#else
+#define b3Matrix3x3Data	b3Matrix3x3FloatData
+#endif //B3_USE_DOUBLE_PRECISION
+
+
+/**@brief The b3Matrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with b3Quaternion, b3Transform and b3Vector3.
+* Make sure to only include a pure orthogonal matrix without scaling. */
+B3_ATTRIBUTE_ALIGNED16(class) b3Matrix3x3 {
+
+	///Data storage for the matrix, each vector is a row of the matrix
+	b3Vector3 m_el[3];
+
+public:
+	/** @brief No initializaion constructor */
+	b3Matrix3x3 () {}
+
+	//		explicit b3Matrix3x3(const b3Scalar *m) { setFromOpenGLSubMatrix(m); }
+
+	/**@brief Constructor from Quaternion */
+	explicit b3Matrix3x3(const b3Quaternion& q) { setRotation(q); }
+	/*
+	template <typename b3Scalar>
+	Matrix3x3(const b3Scalar& yaw, const b3Scalar& pitch, const b3Scalar& roll)
+	{ 
+	setEulerYPR(yaw, pitch, roll);
+	}
+	*/
+	/** @brief Constructor with row major formatting */
+	b3Matrix3x3(const b3Scalar& xx, const b3Scalar& xy, const b3Scalar& xz,
+		const b3Scalar& yx, const b3Scalar& yy, const b3Scalar& yz,
+		const b3Scalar& zx, const b3Scalar& zy, const b3Scalar& zz)
+	{ 
+		setValue(xx, xy, xz, 
+			yx, yy, yz, 
+			zx, zy, zz);
+	}
+
+#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))|| defined (B3_USE_NEON)
+	B3_FORCE_INLINE b3Matrix3x3 (const b3SimdFloat4 v0, const b3SimdFloat4 v1, const b3SimdFloat4 v2 ) 
+	{
+        m_el[0].mVec128 = v0;
+        m_el[1].mVec128 = v1;
+        m_el[2].mVec128 = v2;
+	}
+
+	B3_FORCE_INLINE b3Matrix3x3 (const b3Vector3& v0, const b3Vector3& v1, const b3Vector3& v2 ) 
+	{
+        m_el[0] = v0;
+        m_el[1] = v1;
+        m_el[2] = v2;
+	}
+
+	// Copy constructor
+	B3_FORCE_INLINE b3Matrix3x3(const b3Matrix3x3& 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
+	B3_FORCE_INLINE b3Matrix3x3& operator=(const b3Matrix3x3& 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 */
+	B3_FORCE_INLINE b3Matrix3x3 (const b3Matrix3x3& 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 */
+	B3_FORCE_INLINE b3Matrix3x3& operator=(const b3Matrix3x3& other)
+	{
+		m_el[0] = other.m_el[0];
+		m_el[1] = other.m_el[1];
+		m_el[2] = other.m_el[2];
+		return *this;
+	}
+
+#endif
+
+	/** @brief Get a column of the matrix as a vector 
+	*  @param i Column number 0 indexed */
+	B3_FORCE_INLINE b3Vector3 getColumn(int i) const
+	{
+		return b3MakeVector3(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 */
+	B3_FORCE_INLINE const b3Vector3& getRow(int i) const
+	{
+		b3FullAssert(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 */
+	B3_FORCE_INLINE b3Vector3&  operator[](int i)
+	{ 
+		b3FullAssert(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 */
+	B3_FORCE_INLINE const b3Vector3& operator[](int i) const
+	{
+		b3FullAssert(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 */
+	b3Matrix3x3& operator*=(const b3Matrix3x3& m); 
+
+	/** @brief Adds by the target matrix on the right
+	*  @param m matrix to be applied 
+	* Equivilant to this = this + m */
+	b3Matrix3x3& operator+=(const b3Matrix3x3& m); 
+
+	/** @brief Substractss by the target matrix on the right
+	*  @param m matrix to be applied 
+	* Equivilant to this = this - m */
+	b3Matrix3x3& operator-=(const b3Matrix3x3& 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 b3Scalar *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 b3Scalar& xx, const b3Scalar& xy, const b3Scalar& xz, 
+		const b3Scalar& yx, const b3Scalar& yy, const b3Scalar& yz, 
+		const b3Scalar& zx, const b3Scalar& zy, const b3Scalar& 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 b3Quaternion& q) 
+	{
+		b3Scalar d = q.length2();
+		b3FullAssert(d != b3Scalar(0.0));
+		b3Scalar s = b3Scalar(2.0) / d;
+    
+    #if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+        __m128	vs, Q = q.get128();
+		__m128i Qi = b3CastfTo128i(Q);
+        __m128	Y, Z;
+        __m128	V1, V2, V3;
+        __m128	V11, V21, V31;
+        __m128	NQ = _mm_xor_ps(Q, b3vMzeroMask);
+		__m128i NQi = b3CastfTo128i(NQ);
+        
+        V1 = b3CastiTo128f(_mm_shuffle_epi32 (Qi, B3_SHUFFLE(1,0,2,3)));	// Y X Z W
+		V2 = _mm_shuffle_ps(NQ, Q, B3_SHUFFLE(0,0,1,3));     // -X -X  Y  W
+        V3 = b3CastiTo128f(_mm_shuffle_epi32 (Qi, B3_SHUFFLE(2,1,0,3)));	// Z Y X W
+        V1 = _mm_xor_ps(V1, b3vMPPP);	//	change the sign of the first element
+			
+        V11	= b3CastiTo128f(_mm_shuffle_epi32 (Qi, B3_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, B3_SHUFFLE(0,2,0,3));	//  X  Z -X -W
+
+		V2 = V2 * V1;	//
+		V1 = V1 * V11;	//
+		V3 = V3 * V31;	//
+
+        V11 = _mm_shuffle_ps(NQ, Q, B3_SHUFFLE(2,3,1,3));	//	-Z -W  Y  W
+		V11 = V11 * V21;	//
+        V21 = _mm_xor_ps(V21, b3vMPPP);	//	change the sign of the first element
+		V31 = _mm_shuffle_ps(Q, NQ, B3_SHUFFLE(3,3,1,3));	//	 W  W -Y -W
+        V31 = _mm_xor_ps(V31, b3vMPPP);	//	change the sign of the first element
+		Y = b3CastiTo128f(_mm_shuffle_epi32 (NQi, B3_SHUFFLE(3,2,0,3)));	// -W -Z -X -W
+		Z = b3CastiTo128f(_mm_shuffle_epi32 (Qi, B3_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 = b3_splat3_ps(vs, 0);
+            //	s ready
+        V1 = V1 * vs;
+        V2 = V2 * vs;
+        V3 = V3 * vs;
+        
+        V1 = V1 + b3v1000;
+        V2 = V2 + b3v0100;
+        V3 = V3 + b3v0010;
+        
+        m_el[0] = b3MakeVector3(V1); 
+        m_el[1] = b3MakeVector3(V2);
+        m_el[2] = b3MakeVector3(V3);
+    #else    
+		b3Scalar xs = q.getX() * s,   ys = q.getY() * s,   zs = q.getZ() * s;
+		b3Scalar wx = q.getW() * xs,  wy = q.getW() * ys,  wz = q.getW() * zs;
+		b3Scalar xx = q.getX() * xs,  xy = q.getX() * ys,  xz = q.getX() * zs;
+		b3Scalar yy = q.getY() * ys,  yz = q.getY() * zs,  zz = q.getZ() * zs;
+		setValue(
+            b3Scalar(1.0) - (yy + zz), xy - wz, xz + wy,
+			xy + wz, b3Scalar(1.0) - (xx + zz), yz - wx,
+			xz - wy, yz + wx, b3Scalar(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 b3Scalar& yaw, const b3Scalar& pitch, const b3Scalar& 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 aboud 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(b3Scalar eulerX,b3Scalar eulerY,b3Scalar 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
+		b3Scalar ci ( b3Cos(eulerX)); 
+		b3Scalar cj ( b3Cos(eulerY)); 
+		b3Scalar ch ( b3Cos(eulerZ)); 
+		b3Scalar si ( b3Sin(eulerX)); 
+		b3Scalar sj ( b3Sin(eulerY)); 
+		b3Scalar sh ( b3Sin(eulerZ)); 
+		b3Scalar cc = ci * ch; 
+		b3Scalar cs = ci * sh; 
+		b3Scalar sc = si * ch; 
+		b3Scalar 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(B3_USE_SSE_IN_API)&& defined (B3_USE_SSE)) || defined(B3_USE_NEON)
+			m_el[0] = b3MakeVector3(b3v1000); 
+			m_el[1] = b3MakeVector3(b3v0100);
+			m_el[2] = b3MakeVector3(b3v0010);
+#else
+		setValue(b3Scalar(1.0), b3Scalar(0.0), b3Scalar(0.0), 
+			b3Scalar(0.0), b3Scalar(1.0), b3Scalar(0.0), 
+			b3Scalar(0.0), b3Scalar(0.0), b3Scalar(1.0)); 
+#endif
+	}
+
+	static const b3Matrix3x3&	getIdentity()
+	{
+#if (defined(B3_USE_SSE_IN_API)&& defined (B3_USE_SSE)) || defined(B3_USE_NEON)
+        static const b3Matrix3x3 
+        identityMatrix(b3v1000, b3v0100, b3v0010);
+#else
+		static const b3Matrix3x3 
+        identityMatrix(
+            b3Scalar(1.0), b3Scalar(0.0), b3Scalar(0.0), 
+			b3Scalar(0.0), b3Scalar(1.0), b3Scalar(0.0), 
+			b3Scalar(0.0), b3Scalar(0.0), b3Scalar(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(b3Scalar *m) const 
+	{
+#if defined (B3_USE_SSE_IN_API) && defined (B3_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, b3vFFF0fMask);  //  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, B3_SHUFFLE(2, 3, 1, 3) );	// y0 y1 y2 0
+        v0 = _mm_shuffle_ps(v0, v2, B3_SHUFFLE(0, 1, 0, 3) );	// x0 x1 x2 0
+        v2 = b3CastdTo128f(_mm_move_sd(b3CastfTo128d(v2), b3CastfTo128d(vT)));	// z0 z1 z2 0
+
+        vm[0] = v0;
+        vm[1] = v1;
+        vm[2] = v2;
+#elif defined(B3_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) {-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]  = b3Scalar(m_el[0].getX()); 
+		m[1]  = b3Scalar(m_el[1].getX());
+		m[2]  = b3Scalar(m_el[2].getX());
+		m[3]  = b3Scalar(0.0); 
+		m[4]  = b3Scalar(m_el[0].getY());
+		m[5]  = b3Scalar(m_el[1].getY());
+		m[6]  = b3Scalar(m_el[2].getY());
+		m[7]  = b3Scalar(0.0); 
+		m[8]  = b3Scalar(m_el[0].getZ()); 
+		m[9]  = b3Scalar(m_el[1].getZ());
+		m[10] = b3Scalar(m_el[2].getZ());
+		m[11] = b3Scalar(0.0); 
+#endif
+	}
+
+	/**@brief Get the matrix represented as a quaternion 
+	* @param q The quaternion which will be set */
+	void getRotation(b3Quaternion& q) const
+	{
+#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))|| defined (B3_USE_NEON)
+        b3Scalar trace = m_el[0].getX() + m_el[1].getY() + m_el[2].getZ();
+        b3Scalar s, x;
+        
+        union {
+            b3SimdFloat4 vec;
+            b3Scalar f[4];
+        } temp;
+        
+        if (trace > b3Scalar(0.0)) 
+        {
+            x = trace + b3Scalar(1.0);
+
+            temp.f[0]=m_el[2].getY() - m_el[1].getZ();
+            temp.f[1]=m_el[0].getZ() - m_el[2].getX();
+            temp.f[2]=m_el[1].getX() - m_el[0].getY();
+            temp.f[3]=x;
+            //temp.f[3]= s * b3Scalar(0.5);
+        } 
+        else 
+        {
+            int i, j, k;
+            if(m_el[0].getX() < m_el[1].getY()) 
+            { 
+                if( m_el[1].getY() < m_el[2].getZ() )
+                    { i = 2; j = 0; k = 1; }
+                else
+                    { i = 1; j = 2; k = 0; }
+            }
+            else
+            {
+                if( m_el[0].getX() < m_el[2].getZ())
+                    { 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] + b3Scalar(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 * b3Scalar(0.5);
+        }
+
+        s = b3Sqrt(x);
+        q.set128(temp.vec);
+        s = b3Scalar(0.5) / s;
+
+        q *= s;
+#else    
+		b3Scalar trace = m_el[0].getX() + m_el[1].getY() + m_el[2].getZ();
+
+		b3Scalar temp[4];
+
+		if (trace > b3Scalar(0.0)) 
+		{
+			b3Scalar s = b3Sqrt(trace + b3Scalar(1.0));
+			temp[3]=(s * b3Scalar(0.5));
+			s = b3Scalar(0.5) / s;
+
+			temp[0]=((m_el[2].getY() - m_el[1].getZ()) * s);
+			temp[1]=((m_el[0].getZ() - m_el[2].getX()) * s);
+			temp[2]=((m_el[1].getX() - m_el[0].getY()) * s);
+		} 
+		else 
+		{
+			int i = m_el[0].getX() < m_el[1].getY() ? 
+				(m_el[1].getY() < m_el[2].getZ() ? 2 : 1) :
+				(m_el[0].getX() < m_el[2].getZ() ? 2 : 0); 
+			int j = (i + 1) % 3;  
+			int k = (i + 2) % 3;
+
+			b3Scalar s = b3Sqrt(m_el[i][i] - m_el[j][j] - m_el[k][k] + b3Scalar(1.0));
+			temp[i] = s * b3Scalar(0.5);
+			s = b3Scalar(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(b3Scalar& yaw, b3Scalar& pitch, b3Scalar& roll) const
+	{
+
+		// first use the normal calculus
+		yaw = b3Scalar(b3Atan2(m_el[1].getX(), m_el[0].getX()));
+		pitch = b3Scalar(b3Asin(-m_el[2].getX()));
+		roll = b3Scalar(b3Atan2(m_el[2].getY(), m_el[2].getZ()));
+
+		// on pitch = +/-HalfPI
+		if (b3Fabs(pitch)==B3_HALF_PI)
+		{
+			if (yaw>0)
+				yaw-=B3_PI;
+			else
+				yaw+=B3_PI;
+
+			if (roll>0)
+				roll-=B3_PI;
+			else
+				roll+=B3_PI;
+		}
+	};
+
+
+	/**@brief Get the matrix represented as euler angles around ZYX
+	* @param yaw Yaw around X 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(b3Scalar& yaw, b3Scalar& pitch, b3Scalar& roll, unsigned int solution_number = 1) const
+	{
+		struct Euler
+		{
+			b3Scalar yaw;
+			b3Scalar pitch;
+			b3Scalar 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 (b3Fabs(m_el[2].getX()) >= 1)
+		{
+			euler_out.yaw = 0;
+			euler_out2.yaw = 0;
+
+			// From difference of angles formula
+			b3Scalar delta = b3Atan2(m_el[0].getX(),m_el[0].getZ());
+			if (m_el[2].getX() > 0)  //gimbal locked up
+			{
+				euler_out.pitch = B3_PI / b3Scalar(2.0);
+				euler_out2.pitch = B3_PI / b3Scalar(2.0);
+				euler_out.roll = euler_out.pitch + delta;
+				euler_out2.roll = euler_out.pitch + delta;
+			}
+			else // gimbal locked down
+			{
+				euler_out.pitch = -B3_PI / b3Scalar(2.0);
+				euler_out2.pitch = -B3_PI / b3Scalar(2.0);
+				euler_out.roll = -euler_out.pitch + delta;
+				euler_out2.roll = -euler_out.pitch + delta;
+			}
+		}
+		else
+		{
+			euler_out.pitch = - b3Asin(m_el[2].getX());
+			euler_out2.pitch = B3_PI - euler_out.pitch;
+
+			euler_out.roll = b3Atan2(m_el[2].getY()/b3Cos(euler_out.pitch), 
+				m_el[2].getZ()/b3Cos(euler_out.pitch));
+			euler_out2.roll = b3Atan2(m_el[2].getY()/b3Cos(euler_out2.pitch), 
+				m_el[2].getZ()/b3Cos(euler_out2.pitch));
+
+			euler_out.yaw = b3Atan2(m_el[1].getX()/b3Cos(euler_out.pitch), 
+				m_el[0].getX()/b3Cos(euler_out.pitch));
+			euler_out2.yaw = b3Atan2(m_el[1].getX()/b3Cos(euler_out2.pitch), 
+				m_el[0].getX()/b3Cos(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 */
+
+	b3Matrix3x3 scaled(const b3Vector3& s) const
+	{
+#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))|| defined (B3_USE_NEON)
+		return b3Matrix3x3(m_el[0] * s, m_el[1] * s, m_el[2] * s);
+#else		
+		return b3Matrix3x3(
+            m_el[0].getX() * s.getX(), m_el[0].getY() * s.getY(), m_el[0].getZ() * s.getZ(),
+			m_el[1].getX() * s.getX(), m_el[1].getY() * s.getY(), m_el[1].getZ() * s.getZ(),
+			m_el[2].getX() * s.getX(), m_el[2].getY() * s.getY(), m_el[2].getZ() * s.getZ());
+#endif
+	}
+
+	/**@brief Return the determinant of the matrix */
+	b3Scalar            determinant() const;
+	/**@brief Return the adjoint of the matrix */
+	b3Matrix3x3 adjoint() const;
+	/**@brief Return the matrix with all values non negative */
+	b3Matrix3x3 absolute() const;
+	/**@brief Return the transpose of the matrix */
+	b3Matrix3x3 transpose() const;
+	/**@brief Return the inverse of the matrix */
+	b3Matrix3x3 inverse() const; 
+
+	b3Matrix3x3 transposeTimes(const b3Matrix3x3& m) const;
+	b3Matrix3x3 timesTranspose(const b3Matrix3x3& m) const;
+
+	B3_FORCE_INLINE b3Scalar tdotx(const b3Vector3& v) const 
+	{
+		return m_el[0].getX() * v.getX() + m_el[1].getX() * v.getY() + m_el[2].getX() * v.getZ();
+	}
+	B3_FORCE_INLINE b3Scalar tdoty(const b3Vector3& v) const 
+	{
+		return m_el[0].getY() * v.getX() + m_el[1].getY() * v.getY() + m_el[2].getY() * v.getZ();
+	}
+	B3_FORCE_INLINE b3Scalar tdotz(const b3Vector3& v) const 
+	{
+		return m_el[0].getZ() * v.getX() + m_el[1].getZ() * v.getY() + m_el[2].getZ() * v.getZ();
+	}
+
+
+	/**@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(b3Matrix3x3& rot, b3Scalar 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;
+			b3Scalar max = b3Fabs(m_el[0][1]);
+			b3Scalar v = b3Fabs(m_el[0][2]);
+			if (v > max)
+			{
+				q = 2;
+				r = 1;
+				max = v;
+			}
+			v = b3Fabs(m_el[1][2]);
+			if (v > max)
+			{
+				p = 1;
+				q = 2;
+				r = 0;
+				max = v;
+			}
+
+			b3Scalar t = threshold * (b3Fabs(m_el[0][0]) + b3Fabs(m_el[1][1]) + b3Fabs(m_el[2][2]));
+			if (max <= t)
+			{
+				if (max <= B3_EPSILON * t)
+				{
+					return;
+				}
+				step = 1;
+			}
+
+			// compute Jacobi rotation J which leads to a zero for element [p][q] 
+			b3Scalar mpq = m_el[p][q];
+			b3Scalar theta = (m_el[q][q] - m_el[p][p]) / (2 * mpq);
+			b3Scalar theta2 = theta * theta;
+			b3Scalar cos;
+			b3Scalar sin;
+			if (theta2 * theta2 < b3Scalar(10 / B3_EPSILON))
+			{
+				t = (theta >= 0) ? 1 / (theta + b3Sqrt(1 + theta2))
+					: 1 / (theta - b3Sqrt(1 + theta2));
+				cos = 1 / b3Sqrt(1 + t * t);
+				sin = cos * t;
+			}
+			else
+			{
+				// approximation for large theta-value, i.e., a nearly diagonal matrix
+				t = 1 / (theta * (2 + b3Scalar(0.5) / theta2));
+				cos = 1 - b3Scalar(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;
+			b3Scalar mrp = m_el[r][p];
+			b3Scalar 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++)
+			{
+				b3Vector3& 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
+	*/
+	b3Scalar 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	b3Matrix3x3Data& dataOut) const;
+
+	void	serializeFloat(struct	b3Matrix3x3FloatData& dataOut) const;
+
+	void	deSerialize(const struct	b3Matrix3x3Data& dataIn);
+
+	void	deSerializeFloat(const struct	b3Matrix3x3FloatData& dataIn);
+
+	void	deSerializeDouble(const struct	b3Matrix3x3DoubleData& dataIn);
+
+};
+
+
+B3_FORCE_INLINE b3Matrix3x3& 
+b3Matrix3x3::operator*=(const b3Matrix3x3& m)
+{
+#if defined (B3_USE_SSE_IN_API) && defined (B3_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, b3vFFF0fMask); 
+    mv1 = _mm_and_ps(m[1].mVec128, b3vFFF0fMask); 
+    mv2 = _mm_and_ps(m[2].mVec128, b3vFFF0fMask); 
+    
+    // rv0
+    rv00 = b3_splat_ps(rv02, 0);
+    rv01 = b3_splat_ps(rv02, 1);
+    rv02 = b3_splat_ps(rv02, 2);
+    
+    rv00 = _mm_mul_ps(rv00, mv0);
+    rv01 = _mm_mul_ps(rv01, mv1);
+    rv02 = _mm_mul_ps(rv02, mv2);
+    
+    // rv1
+    rv10 = b3_splat_ps(rv12, 0);
+    rv11 = b3_splat_ps(rv12, 1);
+    rv12 = b3_splat_ps(rv12, 2);
+    
+    rv10 = _mm_mul_ps(rv10, mv0);
+    rv11 = _mm_mul_ps(rv11, mv1);
+    rv12 = _mm_mul_ps(rv12, mv2);
+    
+    // rv2
+    rv20 = b3_splat_ps(rv22, 0);
+    rv21 = b3_splat_ps(rv22, 1);
+    rv22 = b3_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(B3_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, b3vFFF0Mask); 
+    mv1 = (float32x4_t) vandq_s32((int32x4_t)m[1].mVec128, b3vFFF0Mask); 
+    mv2 = (float32x4_t) vandq_s32((int32x4_t)m[2].mVec128, b3vFFF0Mask); 
+    
+    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;
+}
+
+B3_FORCE_INLINE b3Matrix3x3& 
+b3Matrix3x3::operator+=(const b3Matrix3x3& m)
+{
+#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))|| defined (B3_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;
+}
+
+B3_FORCE_INLINE b3Matrix3x3
+operator*(const b3Matrix3x3& m, const b3Scalar & k)
+{
+#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))
+    __m128 vk = b3_splat_ps(_mm_load_ss((float *)&k), 0x80);
+    return b3Matrix3x3(
+                _mm_mul_ps(m[0].mVec128, vk), 
+                _mm_mul_ps(m[1].mVec128, vk), 
+                _mm_mul_ps(m[2].mVec128, vk)); 
+#elif defined(B3_USE_NEON)
+    return b3Matrix3x3(
+                vmulq_n_f32(m[0].mVec128, k),
+                vmulq_n_f32(m[1].mVec128, k),
+                vmulq_n_f32(m[2].mVec128, k)); 
+#else
+	return b3Matrix3x3(
+		m[0].getX()*k,m[0].getY()*k,m[0].getZ()*k,
+		m[1].getX()*k,m[1].getY()*k,m[1].getZ()*k,
+		m[2].getX()*k,m[2].getY()*k,m[2].getZ()*k);
+#endif
+}
+
+B3_FORCE_INLINE b3Matrix3x3 
+operator+(const b3Matrix3x3& m1, const b3Matrix3x3& m2)
+{
+#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))|| defined (B3_USE_NEON)
+	return b3Matrix3x3(
+        m1[0].mVec128 + m2[0].mVec128,
+        m1[1].mVec128 + m2[1].mVec128,
+        m1[2].mVec128 + m2[2].mVec128);
+#else
+	return b3Matrix3x3(
+        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    
+}
+
+B3_FORCE_INLINE b3Matrix3x3 
+operator-(const b3Matrix3x3& m1, const b3Matrix3x3& m2)
+{
+#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))|| defined (B3_USE_NEON)
+	return b3Matrix3x3(
+        m1[0].mVec128 - m2[0].mVec128,
+        m1[1].mVec128 - m2[1].mVec128,
+        m1[2].mVec128 - m2[2].mVec128);
+#else
+	return b3Matrix3x3(
+        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
+}
+
+
+B3_FORCE_INLINE b3Matrix3x3& 
+b3Matrix3x3::operator-=(const b3Matrix3x3& m)
+{
+#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))|| defined (B3_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;
+}
+
+
+B3_FORCE_INLINE b3Scalar 
+b3Matrix3x3::determinant() const
+{ 
+	return b3Triple((*this)[0], (*this)[1], (*this)[2]);
+}
+
+
+B3_FORCE_INLINE b3Matrix3x3 
+b3Matrix3x3::absolute() const
+{
+#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))
+    return b3Matrix3x3(
+            _mm_and_ps(m_el[0].mVec128, b3vAbsfMask),
+            _mm_and_ps(m_el[1].mVec128, b3vAbsfMask),
+            _mm_and_ps(m_el[2].mVec128, b3vAbsfMask));
+#elif defined(B3_USE_NEON)
+    return b3Matrix3x3(
+            (float32x4_t)vandq_s32((int32x4_t)m_el[0].mVec128, b3v3AbsMask),
+            (float32x4_t)vandq_s32((int32x4_t)m_el[1].mVec128, b3v3AbsMask),
+            (float32x4_t)vandq_s32((int32x4_t)m_el[2].mVec128, b3v3AbsMask));
+#else	
+	return b3Matrix3x3(
+            b3Fabs(m_el[0].getX()), b3Fabs(m_el[0].getY()), b3Fabs(m_el[0].getZ()),
+            b3Fabs(m_el[1].getX()), b3Fabs(m_el[1].getY()), b3Fabs(m_el[1].getZ()),
+            b3Fabs(m_el[2].getX()), b3Fabs(m_el[2].getY()), b3Fabs(m_el[2].getZ()));
+#endif
+}
+
+B3_FORCE_INLINE b3Matrix3x3 
+b3Matrix3x3::transpose() const 
+{
+#if (defined (B3_USE_SSE_IN_API) && defined (B3_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, b3vFFF0fMask);  //  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, B3_SHUFFLE(2, 3, 1, 3) );	// y0 y1 y2 0
+    v0 = _mm_shuffle_ps(v0, v2, B3_SHUFFLE(0, 1, 0, 3) );	// x0 x1 x2 0
+    v2 = b3CastdTo128f(_mm_move_sd(b3CastfTo128d(v2), b3CastfTo128d(vT)));	// z0 z1 z2 0
+
+
+    return b3Matrix3x3( v0, v1, v2 );
+#elif defined(B3_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) {-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 b3Matrix3x3( v0, v1, v2 ); 
+#else
+	return b3Matrix3x3( m_el[0].getX(), m_el[1].getX(), m_el[2].getX(),
+                        m_el[0].getY(), m_el[1].getY(), m_el[2].getY(),
+                        m_el[0].getZ(), m_el[1].getZ(), m_el[2].getZ());
+#endif
+}
+
+B3_FORCE_INLINE b3Matrix3x3 
+b3Matrix3x3::adjoint() const 
+{
+	return b3Matrix3x3(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));
+}
+
+B3_FORCE_INLINE b3Matrix3x3 
+b3Matrix3x3::inverse() const
+{
+	b3Vector3 co = b3MakeVector3(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1));
+	b3Scalar det = (*this)[0].dot(co);
+	b3FullAssert(det != b3Scalar(0.0));
+	b3Scalar s = b3Scalar(1.0) / det;
+	return b3Matrix3x3(co.getX() * s, cofac(0, 2, 2, 1) * s, cofac(0, 1, 1, 2) * s,
+		co.getY() * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s,
+		co.getZ() * s, cofac(0, 1, 2, 0) * s, cofac(0, 0, 1, 1) * s);
+}
+
+B3_FORCE_INLINE b3Matrix3x3 
+b3Matrix3x3::transposeTimes(const b3Matrix3x3& m) const
+{
+#if (defined (B3_USE_SSE_IN_API) && defined (B3_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, b3vFFF0fMask );
+    __m128 m1 = _mm_and_ps( m.getRow(1).mVec128, b3vFFF0fMask);
+    __m128 m2 = _mm_and_ps( m.getRow(2).mVec128, b3vFFF0fMask );
+    __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 b3Matrix3x3( r0, r1, r2 );
+
+#elif defined B3_USE_NEON
+    // zeros w
+    static const uint32x4_t xyzMask = (const uint32x4_t){ -1, -1, -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 b3Matrix3x3( r0, r1, r2 );
+#else
+    return b3Matrix3x3(
+		m_el[0].getX() * m[0].getX() + m_el[1].getX() * m[1].getX() + m_el[2].getX() * m[2].getX(),
+		m_el[0].getX() * m[0].getY() + m_el[1].getX() * m[1].getY() + m_el[2].getX() * m[2].getY(),
+		m_el[0].getX() * m[0].getZ() + m_el[1].getX() * m[1].getZ() + m_el[2].getX() * m[2].getZ(),
+		m_el[0].getY() * m[0].getX() + m_el[1].getY() * m[1].getX() + m_el[2].getY() * m[2].getX(),
+		m_el[0].getY() * m[0].getY() + m_el[1].getY() * m[1].getY() + m_el[2].getY() * m[2].getY(),
+		m_el[0].getY() * m[0].getZ() + m_el[1].getY() * m[1].getZ() + m_el[2].getY() * m[2].getZ(),
+		m_el[0].getZ() * m[0].getX() + m_el[1].getZ() * m[1].getX() + m_el[2].getZ() * m[2].getX(),
+		m_el[0].getZ() * m[0].getY() + m_el[1].getZ() * m[1].getY() + m_el[2].getZ() * m[2].getY(),
+		m_el[0].getZ() * m[0].getZ() + m_el[1].getZ() * m[1].getZ() + m_el[2].getZ() * m[2].getZ());
+#endif
+}
+
+B3_FORCE_INLINE b3Matrix3x3 
+b3Matrix3x3::timesTranspose(const b3Matrix3x3& m) const
+{
+#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))
+    __m128 a0 = m_el[0].mVec128;
+    __m128 a1 = m_el[1].mVec128;
+    __m128 a2 = m_el[2].mVec128;
+    
+    b3Matrix3x3 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 b3Matrix3x3( r0, r1, r2);
+            
+#elif defined B3_USE_NEON
+    float32x4_t a0 = m_el[0].mVec128;
+    float32x4_t a1 = m_el[1].mVec128;
+    float32x4_t a2 = m_el[2].mVec128;
+    
+    b3Matrix3x3 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 b3Matrix3x3( r0, r1, r2 );
+    
+#else
+	return b3Matrix3x3(
+		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
+}
+
+B3_FORCE_INLINE b3Vector3 
+operator*(const b3Matrix3x3& m, const b3Vector3& v) 
+{
+#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))|| defined (B3_USE_NEON)
+    return v.dot3(m[0], m[1], m[2]);
+#else
+	return b3MakeVector3(m[0].dot(v), m[1].dot(v), m[2].dot(v));
+#endif
+}
+
+
+B3_FORCE_INLINE b3Vector3
+operator*(const b3Vector3& v, const b3Matrix3x3& m)
+{
+#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))
+
+    const __m128 vv = v.mVec128;
+
+    __m128 c0 = b3_splat_ps( vv, 0);
+    __m128 c1 = b3_splat_ps( vv, 1);
+    __m128 c2 = b3_splat_ps( vv, 2);
+
+    c0 = _mm_mul_ps(c0, _mm_and_ps(m[0].mVec128, b3vFFF0fMask) );
+    c1 = _mm_mul_ps(c1, _mm_and_ps(m[1].mVec128, b3vFFF0fMask) );
+    c0 = _mm_add_ps(c0, c1);
+    c2 = _mm_mul_ps(c2, _mm_and_ps(m[2].mVec128, b3vFFF0fMask) );
+    
+    return b3MakeVector3(_mm_add_ps(c0, c2));
+#elif defined(B3_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, b3vFFF0Mask);
+    c1 = (float32x4_t) vandq_s32((int32x4_t)m[1].mVec128, b3vFFF0Mask);
+    c2 = (float32x4_t) vandq_s32((int32x4_t)m[2].mVec128, b3vFFF0Mask);
+
+    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 b3MakeVector3(c0);
+#else
+	return b3MakeVector3(m.tdotx(v), m.tdoty(v), m.tdotz(v));
+#endif
+}
+
+B3_FORCE_INLINE b3Matrix3x3 
+operator*(const b3Matrix3x3& m1, const b3Matrix3x3& m2)
+{
+#if (defined (B3_USE_SSE_IN_API) && defined (B3_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, b3vFFF0fMask);
+    
+    __m128 c0 = b3_splat_ps( m10, 0);
+    __m128 c1 = b3_splat_ps( m11, 0);
+    __m128 c2 = b3_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, b3vFFF0fMask);
+    
+    __m128 c0_1 = b3_splat_ps( m10, 1);
+    __m128 c1_1 = b3_splat_ps( m11, 1);
+    __m128 c2_1 = b3_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, b3vFFF0fMask);
+    
+    c0 = _mm_add_ps(c0, c0_1);
+    c1 = _mm_add_ps(c1, c1_1);
+    c2 = _mm_add_ps(c2, c2_1);
+    
+    m10 = b3_splat_ps( m10, 2);
+    m11 = b3_splat_ps( m11, 2);
+    m12 = b3_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 b3Matrix3x3(c0, c1, c2);
+
+#elif defined(B3_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, b3vFFF0Mask); 
+    mv1 = (float32x4_t) vandq_s32((int32x4_t)m2[1].mVec128, b3vFFF0Mask); 
+    mv2 = (float32x4_t) vandq_s32((int32x4_t)m2[2].mVec128, b3vFFF0Mask); 
+    
+    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 b3Matrix3x3(rv0, rv1, rv2);
+        
+#else	
+	return b3Matrix3x3(
+		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
+}
+
+/*
+B3_FORCE_INLINE b3Matrix3x3 b3MultTransposeLeft(const b3Matrix3x3& m1, const b3Matrix3x3& m2) {
+return b3Matrix3x3(
+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.  */
+B3_FORCE_INLINE bool operator==(const b3Matrix3x3& m1, const b3Matrix3x3& m2)
+{
+#if (defined (B3_USE_SSE_IN_API) && defined (B3_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);
+
+    return (0x7 == _mm_movemask_ps((__m128)c0));
+#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	b3Matrix3x3FloatData
+{
+	b3Vector3FloatData m_el[3];
+};
+
+///for serialization
+struct	b3Matrix3x3DoubleData
+{
+	b3Vector3DoubleData m_el[3];
+};
+
+
+	
+
+B3_FORCE_INLINE	void	b3Matrix3x3::serialize(struct	b3Matrix3x3Data& dataOut) const
+{
+	for (int i=0;i<3;i++)
+		m_el[i].serialize(dataOut.m_el[i]);
+}
+
+B3_FORCE_INLINE	void	b3Matrix3x3::serializeFloat(struct	b3Matrix3x3FloatData& dataOut) const
+{
+	for (int i=0;i<3;i++)
+		m_el[i].serializeFloat(dataOut.m_el[i]);
+}
+
+
+B3_FORCE_INLINE	void	b3Matrix3x3::deSerialize(const struct	b3Matrix3x3Data& dataIn)
+{
+	for (int i=0;i<3;i++)
+		m_el[i].deSerialize(dataIn.m_el[i]);
+}
+
+B3_FORCE_INLINE	void	b3Matrix3x3::deSerializeFloat(const struct	b3Matrix3x3FloatData& dataIn)
+{
+	for (int i=0;i<3;i++)
+		m_el[i].deSerializeFloat(dataIn.m_el[i]);
+}
+
+B3_FORCE_INLINE	void	b3Matrix3x3::deSerializeDouble(const struct	b3Matrix3x3DoubleData& dataIn)
+{
+	for (int i=0;i<3;i++)
+		m_el[i].deSerializeDouble(dataIn.m_el[i]);
+}
+
+#endif //B3_MATRIX3x3_H
+
diff --git a/thirdparty/bullet/src/Bullet3Common/b3MinMax.h b/thirdparty/bullet/src/Bullet3Common/b3MinMax.h
new file mode 100644
index 0000000000..73af23a4f9
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/b3MinMax.h
@@ -0,0 +1,71 @@
+/*
+Copyright (c) 2003-2013 Gino van den Bergen / 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 B3_GEN_MINMAX_H
+#define B3_GEN_MINMAX_H
+
+#include "b3Scalar.h"
+
+template <class T>
+B3_FORCE_INLINE const T& b3Min(const T& a, const T& b) 
+{
+  return a < b ? a : b ;
+}
+
+template <class T>
+B3_FORCE_INLINE const T& b3Max(const T& a, const T& b) 
+{
+  return  a > b ? a : b;
+}
+
+template <class T>
+B3_FORCE_INLINE const T& b3Clamped(const T& a, const T& lb, const T& ub) 
+{
+	return a < lb ? lb : (ub < a ? ub : a); 
+}
+
+template <class T>
+B3_FORCE_INLINE void b3SetMin(T& a, const T& b) 
+{
+    if (b < a) 
+	{
+		a = b;
+	}
+}
+
+template <class T>
+B3_FORCE_INLINE void b3SetMax(T& a, const T& b) 
+{
+    if (a < b) 
+	{
+		a = b;
+	}
+}
+
+template <class T>
+B3_FORCE_INLINE void b3Clamp(T& a, const T& lb, const T& ub) 
+{
+	if (a < lb) 
+	{
+		a = lb; 
+	}
+	else if (ub < a) 
+	{
+		a = ub;
+	}
+}
+
+#endif //B3_GEN_MINMAX_H
diff --git a/thirdparty/bullet/src/Bullet3Common/b3PoolAllocator.h b/thirdparty/bullet/src/Bullet3Common/b3PoolAllocator.h
new file mode 100644
index 0000000000..2fcdcf5b24
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/b3PoolAllocator.h
@@ -0,0 +1,121 @@
+/*
+Copyright (c) 2003-2013 Gino van den Bergen / 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_POOL_ALLOCATOR_H
+#define _BT_POOL_ALLOCATOR_H
+
+#include "b3Scalar.h"
+#include "b3AlignedAllocator.h"
+
+///The b3PoolAllocator class allows to efficiently allocate a large pool of objects, instead of dynamically allocating them separately.
+class b3PoolAllocator
+{
+	int				m_elemSize;
+	int				m_maxElements;
+	int				m_freeCount;
+	void*			m_firstFree;
+	unsigned char*	m_pool;
+
+public:
+
+	b3PoolAllocator(int elemSize, int maxElements)
+		:m_elemSize(elemSize),
+		m_maxElements(maxElements)
+	{
+		m_pool = (unsigned char*) b3AlignedAlloc( 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;
+    }
+
+	~b3PoolAllocator()
+	{
+		b3AlignedFree( 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;
+		b3Assert(!size || size<=m_elemSize);
+		b3Assert(m_freeCount>0);
+        void* result = m_firstFree;
+        m_firstFree = *(void**)m_firstFree;
+        --m_freeCount;
+        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) {
+            b3Assert((unsigned char*)ptr >= m_pool && (unsigned char*)ptr < m_pool + m_maxElements * m_elemSize);
+
+            *(void**)ptr = m_firstFree;
+            m_firstFree = ptr;
+            ++m_freeCount;
+        }
+	}
+
+	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/src/Bullet3Common/b3QuadWord.h b/thirdparty/bullet/src/Bullet3Common/b3QuadWord.h
new file mode 100644
index 0000000000..65c9581977
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/b3QuadWord.h
@@ -0,0 +1,245 @@
+/*
+Copyright (c) 2003-2013 Gino van den Bergen / 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 B3_SIMD_QUADWORD_H
+#define B3_SIMD_QUADWORD_H
+
+#include "b3Scalar.h"
+#include "b3MinMax.h"
+
+
+
+
+
+#if defined (__CELLOS_LV2) && defined (__SPU__)
+#include <altivec.h>
+#endif
+
+/**@brief The b3QuadWord class is base class for b3Vector3 and b3Quaternion. 
+ * Some issues under PS3 Linux with IBM 2.1 SDK, gcc compiler prevent from using aligned quadword.
+ */
+#ifndef USE_LIBSPE2
+B3_ATTRIBUTE_ALIGNED16(class) b3QuadWord
+#else
+class b3QuadWord
+#endif
+{
+protected:
+
+#if defined (__SPU__) && defined (__CELLOS_LV2__)
+	union {
+		vec_float4 mVec128;
+		b3Scalar	m_floats[4];
+	};
+public:
+	vec_float4	get128() const
+	{
+		return mVec128;
+	}
+
+#else //__CELLOS_LV2__ __SPU__
+
+#if defined(B3_USE_SSE) || defined(B3_USE_NEON) 
+public:
+	union {
+		b3SimdFloat4 mVec128;
+		b3Scalar	m_floats[4];
+		struct {b3Scalar x,y,z,w;};
+	};
+public:
+	B3_FORCE_INLINE	b3SimdFloat4	get128() const
+	{
+		return mVec128;
+	}
+	B3_FORCE_INLINE	void	set128(b3SimdFloat4 v128)
+	{
+		mVec128 = v128;
+	}
+#else
+public:
+	union
+	{
+		b3Scalar	m_floats[4];
+		struct {b3Scalar x,y,z,w;};
+	};
+#endif // B3_USE_SSE
+
+#endif //__CELLOS_LV2__ __SPU__
+
+	public:
+  
+#if defined(B3_USE_SSE) || defined(B3_USE_NEON)
+
+	// Set Vector 
+	B3_FORCE_INLINE b3QuadWord(const b3SimdFloat4 vec)
+	{
+		mVec128 = vec;
+	}
+
+	// Copy constructor
+	B3_FORCE_INLINE b3QuadWord(const b3QuadWord& rhs)
+	{
+		mVec128 = rhs.mVec128;
+	}
+
+	// Assignment Operator
+	B3_FORCE_INLINE b3QuadWord& 
+	operator=(const b3QuadWord& v) 
+	{
+		mVec128 = v.mVec128;
+		
+		return *this;
+	}
+	
+#endif
+
+  /**@brief Return the x value */
+		B3_FORCE_INLINE const b3Scalar& getX() const { return m_floats[0]; }
+  /**@brief Return the y value */
+		B3_FORCE_INLINE const b3Scalar& getY() const { return m_floats[1]; }
+  /**@brief Return the z value */
+		B3_FORCE_INLINE const b3Scalar& getZ() const { return m_floats[2]; }
+  /**@brief Set the x value */
+		B3_FORCE_INLINE void	setX(b3Scalar _x) { m_floats[0] = _x;};
+  /**@brief Set the y value */
+		B3_FORCE_INLINE void	setY(b3Scalar _y) { m_floats[1] = _y;};
+  /**@brief Set the z value */
+		B3_FORCE_INLINE void	setZ(b3Scalar _z) { m_floats[2] = _z;};
+  /**@brief Set the w value */
+		B3_FORCE_INLINE void	setW(b3Scalar _w) { m_floats[3] = _w;};
+  /**@brief Return the x value */
+
+
+	//B3_FORCE_INLINE b3Scalar&       operator[](int i)       { return (&m_floats[0])[i];	}      
+	//B3_FORCE_INLINE const b3Scalar& operator[](int i) const { return (&m_floats[0])[i]; }
+	///operator b3Scalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons.
+	B3_FORCE_INLINE	operator       b3Scalar *()       { return &m_floats[0]; }
+	B3_FORCE_INLINE	operator const b3Scalar *() const { return &m_floats[0]; }
+
+	B3_FORCE_INLINE	bool	operator==(const b3QuadWord& other) const
+	{
+#ifdef B3_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
+	}
+
+	B3_FORCE_INLINE	bool	operator!=(const b3QuadWord& 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
+   */
+		B3_FORCE_INLINE void 	setValue(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z)
+		{
+			m_floats[0]=_x;
+			m_floats[1]=_y;
+			m_floats[2]=_z;
+			m_floats[3] = 0.f;
+		}
+
+/*		void getValue(b3Scalar *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
+   */
+		B3_FORCE_INLINE void	setValue(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z,const b3Scalar& _w)
+		{
+			m_floats[0]=_x;
+			m_floats[1]=_y;
+			m_floats[2]=_z;
+			m_floats[3]=_w;
+		}
+  /**@brief No initialization constructor */
+		B3_FORCE_INLINE b3QuadWord()
+		//	:m_floats[0](b3Scalar(0.)),m_floats[1](b3Scalar(0.)),m_floats[2](b3Scalar(0.)),m_floats[3](b3Scalar(0.))
+		{
+		}
+ 
+  /**@brief Three argument constructor (zeros w)
+   * @param x Value of x
+   * @param y Value of y
+   * @param z Value of z
+   */
+		B3_FORCE_INLINE b3QuadWord(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _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
+   */
+		B3_FORCE_INLINE b3QuadWord(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z,const b3Scalar& _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 b3QuadWord
+   * @param other The other b3QuadWord to compare with 
+   */
+		B3_FORCE_INLINE void	setMax(const b3QuadWord& other)
+		{
+        #ifdef B3_USE_SSE
+            mVec128 = _mm_max_ps(mVec128, other.mVec128);
+        #elif defined(B3_USE_NEON)
+            mVec128 = vmaxq_f32(mVec128, other.mVec128);
+        #else
+        	b3SetMax(m_floats[0], other.m_floats[0]);
+			b3SetMax(m_floats[1], other.m_floats[1]);
+			b3SetMax(m_floats[2], other.m_floats[2]);
+			b3SetMax(m_floats[3], other.m_floats[3]);
+		#endif
+        }
+  /**@brief Set each element to the min of the current values and the values of another b3QuadWord
+   * @param other The other b3QuadWord to compare with 
+   */
+		B3_FORCE_INLINE void	setMin(const b3QuadWord& other)
+		{
+        #ifdef B3_USE_SSE
+            mVec128 = _mm_min_ps(mVec128, other.mVec128);
+        #elif defined(B3_USE_NEON)
+            mVec128 = vminq_f32(mVec128, other.mVec128);
+        #else
+        	b3SetMin(m_floats[0], other.m_floats[0]);
+			b3SetMin(m_floats[1], other.m_floats[1]);
+			b3SetMin(m_floats[2], other.m_floats[2]);
+			b3SetMin(m_floats[3], other.m_floats[3]);
+		#endif
+        }
+
+
+
+};
+
+#endif //B3_SIMD_QUADWORD_H
diff --git a/thirdparty/bullet/src/Bullet3Common/b3Quaternion.h b/thirdparty/bullet/src/Bullet3Common/b3Quaternion.h
new file mode 100644
index 0000000000..ad20543348
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/b3Quaternion.h
@@ -0,0 +1,918 @@
+/*
+Copyright (c) 2003-2013 Gino van den Bergen / 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 B3_SIMD__QUATERNION_H_
+#define B3_SIMD__QUATERNION_H_
+
+
+#include "b3Vector3.h"
+#include "b3QuadWord.h"
+
+
+
+
+
+#ifdef B3_USE_SSE
+
+const __m128 B3_ATTRIBUTE_ALIGNED16(b3vOnes) = {1.0f, 1.0f, 1.0f, 1.0f};
+
+#endif
+
+#if defined(B3_USE_SSE) || defined(B3_USE_NEON)
+
+const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(b3vQInv) = {-0.0f, -0.0f, -0.0f, +0.0f};
+const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(b3vPPPM) = {+0.0f, +0.0f, +0.0f, -0.0f};
+
+#endif
+
+/**@brief The b3Quaternion implements quaternion to perform linear algebra rotations in combination with b3Matrix3x3, b3Vector3 and b3Transform. */
+class b3Quaternion : public b3QuadWord {
+public:
+  /**@brief No initialization constructor */
+	b3Quaternion() {}
+
+#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE))|| defined(B3_USE_NEON) 
+	// Set Vector 
+	B3_FORCE_INLINE b3Quaternion(const b3SimdFloat4 vec)
+	{
+		mVec128 = vec;
+	}
+
+	// Copy constructor
+	B3_FORCE_INLINE b3Quaternion(const b3Quaternion& rhs)
+	{
+		mVec128 = rhs.mVec128;
+	}
+
+	// Assignment Operator
+	B3_FORCE_INLINE b3Quaternion& 
+	operator=(const b3Quaternion& v) 
+	{
+		mVec128 = v.mVec128;
+		
+		return *this;
+	}
+	
+#endif
+
+	//		template <typename b3Scalar>
+	//		explicit Quaternion(const b3Scalar *v) : Tuple4<b3Scalar>(v) {}
+  /**@brief Constructor from scalars */
+	b3Quaternion(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z, const b3Scalar& _w) 
+		: b3QuadWord(_x, _y, _z, _w) 
+	{
+		//b3Assert(!((_x==1.f) && (_y==0.f) && (_z==0.f) && (_w==0.f)));
+	}
+  /**@brief Axis angle Constructor
+   * @param axis The axis which the rotation is around
+   * @param angle The magnitude of the rotation around the angle (Radians) */
+	b3Quaternion(const b3Vector3& _axis, const b3Scalar& _angle) 
+	{ 
+		setRotation(_axis, _angle); 
+	}
+  /**@brief Constructor from Euler angles
+   * @param yaw Angle around Y unless B3_EULER_DEFAULT_ZYX defined then Z
+   * @param pitch Angle around X unless B3_EULER_DEFAULT_ZYX defined then Y
+   * @param roll Angle around Z unless B3_EULER_DEFAULT_ZYX defined then X */
+	b3Quaternion(const b3Scalar& yaw, const b3Scalar& pitch, const b3Scalar& roll)
+	{ 
+#ifndef B3_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 b3Vector3& axis, const b3Scalar& _angle)
+	{
+		b3Scalar d = axis.length();
+		b3Assert(d != b3Scalar(0.0));
+		b3Scalar s = b3Sin(_angle * b3Scalar(0.5)) / d;
+		setValue(axis.getX() * s, axis.getY() * s, axis.getZ() * s, 
+			b3Cos(_angle * b3Scalar(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 b3Scalar& yaw, const b3Scalar& pitch, const b3Scalar& roll)
+	{
+		b3Scalar halfYaw = b3Scalar(yaw) * b3Scalar(0.5);  
+		b3Scalar halfPitch = b3Scalar(pitch) * b3Scalar(0.5);  
+		b3Scalar halfRoll = b3Scalar(roll) * b3Scalar(0.5);  
+		b3Scalar cosYaw = b3Cos(halfYaw);
+		b3Scalar sinYaw = b3Sin(halfYaw);
+		b3Scalar cosPitch = b3Cos(halfPitch);
+		b3Scalar sinPitch = b3Sin(halfPitch);
+		b3Scalar cosRoll = b3Cos(halfRoll);
+		b3Scalar sinRoll = b3Sin(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 b3Scalar& yawZ, const b3Scalar& pitchY, const b3Scalar& rollX)
+	{
+		b3Scalar halfYaw = b3Scalar(yawZ) * b3Scalar(0.5);  
+		b3Scalar halfPitch = b3Scalar(pitchY) * b3Scalar(0.5);  
+		b3Scalar halfRoll = b3Scalar(rollX) * b3Scalar(0.5);  
+		b3Scalar cosYaw = b3Cos(halfYaw);
+		b3Scalar sinYaw = b3Sin(halfYaw);
+		b3Scalar cosPitch = b3Cos(halfPitch);
+		b3Scalar sinPitch = b3Sin(halfPitch);
+		b3Scalar cosRoll = b3Cos(halfRoll);
+		b3Scalar sinRoll = b3Sin(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
+		normalize();
+	}
+
+	  /**@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(b3Scalar& yawZ, b3Scalar& pitchY, b3Scalar& rollX) const
+	{
+		b3Scalar squ;
+		b3Scalar sqx;
+		b3Scalar sqy;
+		b3Scalar sqz;
+		b3Scalar 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];
+		rollX = b3Atan2(2 * (m_floats[1] * m_floats[2] + m_floats[3] * m_floats[0]), squ - sqx - sqy + sqz);
+		sarg = b3Scalar(-2.) * (m_floats[0] * m_floats[2] - m_floats[3] * m_floats[1]);
+		pitchY = sarg <= b3Scalar(-1.0) ? b3Scalar(-0.5) * B3_PI: (sarg >= b3Scalar(1.0) ? b3Scalar(0.5) * B3_PI : b3Asin(sarg));
+		yawZ = b3Atan2(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 */
+	B3_FORCE_INLINE	b3Quaternion& operator+=(const b3Quaternion& q)
+	{
+#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+		mVec128 = _mm_add_ps(mVec128, q.mVec128);
+#elif defined(B3_USE_NEON)
+		mVec128 = vaddq_f32(mVec128, q.mVec128);
+#else	
+		m_floats[0] += q.getX(); 
+        m_floats[1] += q.getY(); 
+        m_floats[2] += q.getZ(); 
+        m_floats[3] += q.m_floats[3];
+#endif
+		return *this;
+	}
+
+  /**@brief Subtract out a quaternion
+   * @param q The quaternion to subtract from this one */
+	b3Quaternion& operator-=(const b3Quaternion& q) 
+	{
+#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+		mVec128 = _mm_sub_ps(mVec128, q.mVec128);
+#elif defined(B3_USE_NEON)
+		mVec128 = vsubq_f32(mVec128, q.mVec128);
+#else	
+		m_floats[0] -= q.getX(); 
+        m_floats[1] -= q.getY(); 
+        m_floats[2] -= q.getZ(); 
+        m_floats[3] -= q.m_floats[3];
+#endif
+        return *this;
+	}
+
+  /**@brief Scale this quaternion
+   * @param s The scalar to scale by */
+	b3Quaternion& operator*=(const b3Scalar& s)
+	{
+#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+		__m128	vs = _mm_load_ss(&s);	//	(S 0 0 0)
+		vs = b3_pshufd_ps(vs, 0);	//	(S S S S)
+		mVec128 = _mm_mul_ps(mVec128, vs);
+#elif defined(B3_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 */
+	b3Quaternion& operator*=(const b3Quaternion& q)
+	{
+#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+		__m128 vQ2 = q.get128();
+		
+		__m128 A1 = b3_pshufd_ps(mVec128, B3_SHUFFLE(0,1,2,0));
+		__m128 B1 = b3_pshufd_ps(vQ2, B3_SHUFFLE(3,3,3,0));
+		
+		A1 = A1 * B1;
+		
+		__m128 A2 = b3_pshufd_ps(mVec128, B3_SHUFFLE(1,2,0,1));
+		__m128 B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(2,0,1,1));
+		
+		A2 = A2 * B2;
+		
+		B1 = b3_pshufd_ps(mVec128, B3_SHUFFLE(2,0,1,2));
+		B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(1,2,0,2));
+		
+		B1 = B1 * B2;	//	A3 *= B3
+		
+		mVec128 = b3_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, b3vPPPM);	//	change sign of the last element
+		mVec128 = mVec128+ A1;	//	AB03 + AB12
+
+#elif defined(B3_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 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)b3vPPPM);	
+        A0 = vaddq_f32(A0, A1);	//	AB03 + AB12
+        
+        mVec128 = A0;
+#else
+		setValue(
+            m_floats[3] * q.getX() + m_floats[0] * q.m_floats[3] + m_floats[1] * q.getZ() - m_floats[2] * q.getY(),
+			m_floats[3] * q.getY() + m_floats[1] * q.m_floats[3] + m_floats[2] * q.getX() - m_floats[0] * q.getZ(),
+			m_floats[3] * q.getZ() + m_floats[2] * q.m_floats[3] + m_floats[0] * q.getY() - m_floats[1] * q.getX(),
+			m_floats[3] * q.m_floats[3] - m_floats[0] * q.getX() - m_floats[1] * q.getY() - m_floats[2] * q.getZ());
+#endif
+		return *this;
+	}
+  /**@brief Return the dot product between this quaternion and another
+   * @param q The other quaternion */
+	b3Scalar dot(const b3Quaternion& q) const
+	{
+#if defined (B3_USE_SSE_IN_API) && defined (B3_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(B3_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.getX() + 
+                m_floats[1] * q.getY() + 
+                m_floats[2] * q.getZ() + 
+                m_floats[3] * q.m_floats[3];
+#endif
+	}
+
+  /**@brief Return the length squared of the quaternion */
+	b3Scalar length2() const
+	{
+		return dot(*this);
+	}
+
+  /**@brief Return the length of the quaternion */
+	b3Scalar length() const
+	{
+		return b3Sqrt(length2());
+	}
+
+  /**@brief Normalize the quaternion 
+   * Such that x^2 + y^2 + z^2 +w^2 = 1 */
+	b3Quaternion& normalize() 
+	{
+#if defined (B3_USE_SSE_IN_API) && defined (B3_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(b3vOnes, vd);
+        vd = b3_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 */
+	B3_FORCE_INLINE b3Quaternion
+	operator*(const b3Scalar& s) const
+	{
+#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+		__m128	vs = _mm_load_ss(&s);	//	(S 0 0 0)
+		vs = b3_pshufd_ps(vs, 0x00);	//	(S S S S)
+		
+		return b3Quaternion(_mm_mul_ps(mVec128, vs));
+#elif defined(B3_USE_NEON)
+		return b3Quaternion(vmulq_n_f32(mVec128, s));
+#else
+		return b3Quaternion(getX() * s, getY() * s, getZ() * s, m_floats[3] * s);
+#endif
+	}
+
+  /**@brief Return an inversely scaled versionof this quaternion
+   * @param s The inverse scale factor */
+	b3Quaternion operator/(const b3Scalar& s) const
+	{
+		b3Assert(s != b3Scalar(0.0));
+		return *this * (b3Scalar(1.0) / s);
+	}
+
+  /**@brief Inversely scale this quaternion
+   * @param s The scale factor */
+	b3Quaternion& operator/=(const b3Scalar& s) 
+	{
+		b3Assert(s != b3Scalar(0.0));
+		return *this *= b3Scalar(1.0) / s;
+	}
+
+  /**@brief Return a normalized version of this quaternion */
+	b3Quaternion normalized() const 
+	{
+		return *this / length();
+	} 
+  /**@brief Return the angle between this quaternion and the other 
+   * @param q The other quaternion */
+	b3Scalar angle(const b3Quaternion& q) const 
+	{
+		b3Scalar s = b3Sqrt(length2() * q.length2());
+		b3Assert(s != b3Scalar(0.0));
+		return b3Acos(dot(q) / s);
+	}
+  /**@brief Return the angle of rotation represented by this quaternion */
+	b3Scalar getAngle() const 
+	{
+		b3Scalar s = b3Scalar(2.) * b3Acos(m_floats[3]);
+		return s;
+	}
+
+	/**@brief Return the axis of the rotation represented by this quaternion */
+	b3Vector3 getAxis() const
+	{
+		b3Scalar s_squared = 1.f-m_floats[3]*m_floats[3];
+		
+		if (s_squared < b3Scalar(10.) * B3_EPSILON) //Check for divide by zero
+			return b3MakeVector3(1.0, 0.0, 0.0);  // Arbitrary
+		b3Scalar s = 1.f/b3Sqrt(s_squared);
+		return b3MakeVector3(m_floats[0] * s, m_floats[1] * s, m_floats[2] * s);
+	}
+
+	/**@brief Return the inverse of this quaternion */
+	b3Quaternion inverse() const
+	{
+#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+		return b3Quaternion(_mm_xor_ps(mVec128, b3vQInv));
+#elif defined(B3_USE_NEON)
+        return b3Quaternion((b3SimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)b3vQInv));
+#else	
+		return b3Quaternion(-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 */
+	B3_FORCE_INLINE b3Quaternion
+	operator+(const b3Quaternion& q2) const
+	{
+#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+		return b3Quaternion(_mm_add_ps(mVec128, q2.mVec128));
+#elif defined(B3_USE_NEON)
+        return b3Quaternion(vaddq_f32(mVec128, q2.mVec128));
+#else	
+		const b3Quaternion& q1 = *this;
+		return b3Quaternion(q1.getX() + q2.getX(), q1.getY() + q2.getY(), q1.getZ() + q2.getZ(), q1.m_floats[3] + q2.m_floats[3]);
+#endif
+	}
+
+  /**@brief Return the difference between this quaternion and the other 
+   * @param q2 The other quaternion */
+	B3_FORCE_INLINE b3Quaternion
+	operator-(const b3Quaternion& q2) const
+	{
+#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+		return b3Quaternion(_mm_sub_ps(mVec128, q2.mVec128));
+#elif defined(B3_USE_NEON)
+        return b3Quaternion(vsubq_f32(mVec128, q2.mVec128));
+#else	
+		const b3Quaternion& q1 = *this;
+		return b3Quaternion(q1.getX() - q2.getX(), q1.getY() - q2.getY(), q1.getZ() - q2.getZ(), q1.m_floats[3] - q2.m_floats[3]);
+#endif
+	}
+
+  /**@brief Return the negative of this quaternion 
+   * This simply negates each element */
+	B3_FORCE_INLINE b3Quaternion operator-() const
+	{
+#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+		return b3Quaternion(_mm_xor_ps(mVec128, b3vMzeroMask));
+#elif defined(B3_USE_NEON)
+		return b3Quaternion((b3SimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)b3vMzeroMask) );
+#else	
+		const b3Quaternion& q2 = *this;
+		return b3Quaternion( - q2.getX(), - q2.getY(),  - q2.getZ(),  - q2.m_floats[3]);
+#endif
+	}
+  /**@todo document this and it's use */
+	B3_FORCE_INLINE b3Quaternion farthest( const b3Quaternion& qd) const 
+	{
+		b3Quaternion 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 */
+	B3_FORCE_INLINE b3Quaternion nearest( const b3Quaternion& qd) const 
+	{
+		b3Quaternion 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.  */
+	b3Quaternion slerp(const b3Quaternion& q, const b3Scalar& t) const
+	{
+	  b3Scalar magnitude = b3Sqrt(length2() * q.length2()); 
+	  b3Assert(magnitude > b3Scalar(0));
+
+    b3Scalar product = dot(q) / magnitude;
+    if (b3Fabs(product) < b3Scalar(1))
+		{
+      // Take care of long angle case see http://en.wikipedia.org/wiki/Slerp
+      const b3Scalar sign = (product < 0) ? b3Scalar(-1) : b3Scalar(1);
+
+      const b3Scalar theta = b3Acos(sign * product);
+      const b3Scalar s1 = b3Sin(sign * t * theta);   
+      const b3Scalar d = b3Scalar(1.0) / b3Sin(theta);
+      const b3Scalar s0 = b3Sin((b3Scalar(1.0) - t) * theta);
+
+      return b3Quaternion(
+          (m_floats[0] * s0 + q.getX() * s1) * d,
+          (m_floats[1] * s0 + q.getY() * s1) * d,
+          (m_floats[2] * s0 + q.getZ() * s1) * d,
+          (m_floats[3] * s0 + q.m_floats[3] * s1) * d);
+		}
+		else
+		{
+			return *this;
+		}
+	}
+
+	static const b3Quaternion&	getIdentity()
+	{
+		static const b3Quaternion identityQuat(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.),b3Scalar(1.));
+		return identityQuat;
+	}
+
+	B3_FORCE_INLINE const b3Scalar& getW() const { return m_floats[3]; }
+
+	
+};
+
+
+
+
+
+/**@brief Return the product of two quaternions */
+B3_FORCE_INLINE b3Quaternion
+operator*(const b3Quaternion& q1, const b3Quaternion& q2) 
+{
+#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+	__m128 vQ1 = q1.get128();
+	__m128 vQ2 = q2.get128();
+	__m128 A0, A1, B1, A2, B2;
+    
+	A1 = b3_pshufd_ps(vQ1, B3_SHUFFLE(0,1,2,0)); // X Y  z x     //      vtrn
+	B1 = b3_pshufd_ps(vQ2, B3_SHUFFLE(3,3,3,0)); // W W  W X     // vdup vext
+
+	A1 = A1 * B1;
+	
+	A2 = b3_pshufd_ps(vQ1, B3_SHUFFLE(1,2,0,1)); // Y Z  X Y     // vext 
+	B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(2,0,1,1)); // z x  Y Y     // vtrn vdup
+
+	A2 = A2 * B2;
+
+	B1 = b3_pshufd_ps(vQ1, B3_SHUFFLE(2,0,1,2)); // z x Y Z      // vtrn vext
+	B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(1,2,0,2)); // Y Z x z      // vext vtrn
+	
+	B1 = B1 * B2;	//	A3 *= B3
+
+	A0 = b3_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, b3vPPPM);	//	change sign of the last element
+	A0 = A0 + A1;	//	AB03 + AB12
+	
+	return b3Quaternion(A0);
+
+#elif defined(B3_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 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)b3vPPPM);	
+	A0 = vaddq_f32(A0, A1);	//	AB03 + AB12
+	
+	return b3Quaternion(A0);
+
+#else
+	return b3Quaternion(
+        q1.getW() * q2.getX() + q1.getX() * q2.getW() + q1.getY() * q2.getZ() - q1.getZ() * q2.getY(),
+		q1.getW() * q2.getY() + q1.getY() * q2.getW() + q1.getZ() * q2.getX() - q1.getX() * q2.getZ(),
+		q1.getW() * q2.getZ() + q1.getZ() * q2.getW() + q1.getX() * q2.getY() - q1.getY() * q2.getX(),
+		q1.getW() * q2.getW() - q1.getX() * q2.getX() - q1.getY() * q2.getY() - q1.getZ() * q2.getZ()); 
+#endif
+}
+
+B3_FORCE_INLINE b3Quaternion
+operator*(const b3Quaternion& q, const b3Vector3& w)
+{
+#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+	__m128 vQ1 = q.get128();
+	__m128 vQ2 = w.get128();
+	__m128 A1, B1, A2, B2, A3, B3;
+	
+	A1 = b3_pshufd_ps(vQ1, B3_SHUFFLE(3,3,3,0));
+	B1 = b3_pshufd_ps(vQ2, B3_SHUFFLE(0,1,2,0));
+
+	A1 = A1 * B1;
+	
+	A2 = b3_pshufd_ps(vQ1, B3_SHUFFLE(1,2,0,1));
+	B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(2,0,1,1));
+
+	A2 = A2 * B2;
+
+	A3 = b3_pshufd_ps(vQ1, B3_SHUFFLE(2,0,1,2));
+	B3 = b3_pshufd_ps(vQ2, B3_SHUFFLE(1,2,0,2));
+	
+	A3 = A3 * B3;	//	A3 *= B3
+
+	A1 = A1 + A2;	//	AB12
+	A1 = _mm_xor_ps(A1, b3vPPPM);	//	change sign of the last element
+    A1 = A1 - A3;	//	AB123 = AB12 - AB3 
+	
+	return b3Quaternion(A1);
+    
+#elif defined(B3_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 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)b3vPPPM);	
+	
+    A1 = vsubq_f32(A1, A3);	//	AB123 = AB12 - AB3
+	
+	return b3Quaternion(A1);
+    
+#else
+	return b3Quaternion( 
+         q.getW() * w.getX() + q.getY() * w.getZ() - q.getZ() * w.getY(),
+		 q.getW() * w.getY() + q.getZ() * w.getX() - q.getX() * w.getZ(),
+		 q.getW() * w.getZ() + q.getX() * w.getY() - q.getY() * w.getX(),
+		-q.getX() * w.getX() - q.getY() * w.getY() - q.getZ() * w.getZ()); 
+#endif
+}
+
+B3_FORCE_INLINE b3Quaternion
+operator*(const b3Vector3& w, const b3Quaternion& q)
+{
+#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+	__m128 vQ1 = w.get128();
+	__m128 vQ2 = q.get128();
+	__m128 A1, B1, A2, B2, A3, B3;
+	
+	A1 = b3_pshufd_ps(vQ1, B3_SHUFFLE(0,1,2,0));  // X Y  z x
+	B1 = b3_pshufd_ps(vQ2, B3_SHUFFLE(3,3,3,0));  // W W  W X 
+
+	A1 = A1 * B1;
+	
+	A2 = b3_pshufd_ps(vQ1, B3_SHUFFLE(1,2,0,1));
+	B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(2,0,1,1));
+
+	A2 = A2 *B2;
+
+	A3 = b3_pshufd_ps(vQ1, B3_SHUFFLE(2,0,1,2));
+	B3 = b3_pshufd_ps(vQ2, B3_SHUFFLE(1,2,0,2));
+	
+	A3 = A3 * B3;	//	A3 *= B3
+
+	A1 = A1 + A2;	//	AB12
+	A1 = _mm_xor_ps(A1, b3vPPPM);	//	change sign of the last element
+	A1 = A1 - A3;	//	AB123 = AB12 - AB3 
+	
+	return b3Quaternion(A1);
+
+#elif defined(B3_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 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)b3vPPPM);	
+	
+    A1 = vsubq_f32(A1, A3);	//	AB123 = AB12 - AB3
+	
+	return b3Quaternion(A1);
+    
+#else
+	return b3Quaternion( 
+        +w.getX() * q.getW() + w.getY() * q.getZ() - w.getZ() * q.getY(),
+		+w.getY() * q.getW() + w.getZ() * q.getX() - w.getX() * q.getZ(),
+		+w.getZ() * q.getW() + w.getX() * q.getY() - w.getY() * q.getX(),
+		-w.getX() * q.getX() - w.getY() * q.getY() - w.getZ() * q.getZ()); 
+#endif
+}
+
+/**@brief Calculate the dot product between two quaternions */
+B3_FORCE_INLINE b3Scalar 
+b3Dot(const b3Quaternion& q1, const b3Quaternion& q2) 
+{ 
+	return q1.dot(q2); 
+}
+
+
+/**@brief Return the length of a quaternion */
+B3_FORCE_INLINE b3Scalar
+b3Length(const b3Quaternion& q) 
+{ 
+	return q.length(); 
+}
+
+/**@brief Return the angle between two quaternions*/
+B3_FORCE_INLINE b3Scalar
+b3Angle(const b3Quaternion& q1, const b3Quaternion& q2) 
+{ 
+	return q1.angle(q2); 
+}
+
+/**@brief Return the inverse of a quaternion*/
+B3_FORCE_INLINE b3Quaternion
+b3Inverse(const b3Quaternion& 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. */
+B3_FORCE_INLINE b3Quaternion
+b3Slerp(const b3Quaternion& q1, const b3Quaternion& q2, const b3Scalar& t) 
+{
+	return q1.slerp(q2, t);
+}
+
+B3_FORCE_INLINE b3Quaternion
+b3QuatMul(const b3Quaternion& rot0, const b3Quaternion& rot1)
+{
+	return rot0*rot1;
+}
+
+B3_FORCE_INLINE b3Quaternion
+b3QuatNormalized(const b3Quaternion& orn)
+{
+	return orn.normalized();
+}
+
+
+
+B3_FORCE_INLINE b3Vector3 
+b3QuatRotate(const b3Quaternion& rotation, const b3Vector3& v) 
+{
+	b3Quaternion q = rotation * v;
+	q *= rotation.inverse();
+#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+	return b3MakeVector3(_mm_and_ps(q.get128(), b3vFFF0fMask));
+#elif defined(B3_USE_NEON)
+    return b3MakeVector3((float32x4_t)vandq_s32((int32x4_t)q.get128(), b3vFFF0Mask));
+#else	
+	return b3MakeVector3(q.getX(),q.getY(),q.getZ());
+#endif
+}
+
+B3_FORCE_INLINE b3Quaternion 
+b3ShortestArcQuat(const b3Vector3& v0, const b3Vector3& v1) // Game Programming Gems 2.10. make sure v0,v1 are normalized
+{
+	b3Vector3 c = v0.cross(v1);
+	b3Scalar  d = v0.dot(v1);
+
+	if (d < -1.0 + B3_EPSILON)
+	{
+		b3Vector3 n,unused;
+		b3PlaneSpace1(v0,n,unused);
+		return b3Quaternion(n.getX(),n.getY(),n.getZ(),0.0f); // just pick any vector that is orthogonal to v0
+	}
+
+	b3Scalar  s = b3Sqrt((1.0f + d) * 2.0f);
+	b3Scalar rs = 1.0f / s;
+
+	return b3Quaternion(c.getX()*rs,c.getY()*rs,c.getZ()*rs,s * 0.5f);
+	
+}
+
+B3_FORCE_INLINE b3Quaternion 
+b3ShortestArcQuatNormalize2(b3Vector3& v0,b3Vector3& v1)
+{
+	v0.normalize();
+	v1.normalize();
+	return b3ShortestArcQuat(v0,v1);
+}
+
+#endif //B3_SIMD__QUATERNION_H_
+
+
+
diff --git a/thirdparty/bullet/src/Bullet3Common/b3Random.h b/thirdparty/bullet/src/Bullet3Common/b3Random.h
new file mode 100644
index 0000000000..dc040f1562
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/b3Random.h
@@ -0,0 +1,50 @@
+/*
+Copyright (c) 2003-2013 Gino van den Bergen / 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 B3_GEN_RANDOM_H
+#define B3_GEN_RANDOM_H
+
+#include "b3Scalar.h"
+
+#ifdef MT19937
+
+#include <limits.h>
+#include <mt19937.h>
+
+#define B3_RAND_MAX UINT_MAX
+
+B3_FORCE_INLINE void         b3Srand(unsigned int seed) { init_genrand(seed); }
+B3_FORCE_INLINE unsigned int b3rand()                   { return genrand_int32(); }
+
+#else
+
+#include <stdlib.h>
+
+#define B3_RAND_MAX RAND_MAX
+
+B3_FORCE_INLINE void         b3Srand(unsigned int seed) { srand(seed); } 
+B3_FORCE_INLINE unsigned int b3rand()                   { return rand(); }
+
+#endif
+
+inline b3Scalar b3RandRange(b3Scalar minRange, b3Scalar maxRange)
+{
+	return (b3rand() / (b3Scalar(B3_RAND_MAX) + b3Scalar(1.0))) * (maxRange - minRange) + minRange;
+}
+
+
+#endif //B3_GEN_RANDOM_H
+
diff --git a/thirdparty/bullet/src/Bullet3Common/b3ResizablePool.h b/thirdparty/bullet/src/Bullet3Common/b3ResizablePool.h
new file mode 100644
index 0000000000..06ad8a778d
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/b3ResizablePool.h
@@ -0,0 +1,182 @@
+
+#ifndef B3_RESIZABLE_POOL_H
+#define B3_RESIZABLE_POOL_H
+
+#include "Bullet3Common/b3AlignedObjectArray.h"
+
+enum 
+{
+	B3_POOL_HANDLE_TERMINAL_FREE=-1,
+	B3_POOL_HANDLE_TERMINAL_USED =-2
+};
+
+template <typename U>
+struct b3PoolBodyHandle : public U
+{
+	B3_DECLARE_ALIGNED_ALLOCATOR();
+
+	int m_nextFreeHandle;
+	void setNextFree(int next)
+	{
+		m_nextFreeHandle = next;
+	}
+	int	getNextFree() const
+	{
+		return m_nextFreeHandle;
+	}
+};
+
+template <typename T> 
+class b3ResizablePool
+{
+
+protected:
+	b3AlignedObjectArray<T>	m_bodyHandles;
+	int m_numUsedHandles;						// number of active handles
+	int	m_firstFreeHandle;		// free handles list
+
+	T* getHandleInternal(int handle)
+	{
+		return &m_bodyHandles[handle];
+
+	}
+	const T* getHandleInternal(int handle) const
+	{
+		return &m_bodyHandles[handle];
+	}
+
+public:
+	
+	b3ResizablePool()
+	{
+		initHandles();
+	}
+	
+	virtual ~b3ResizablePool()
+	{
+		exitHandles();
+	}
+///handle management
+
+	int getNumHandles() const
+	{
+		return m_bodyHandles.size();
+	}
+
+	void getUsedHandles(b3AlignedObjectArray<int>& usedHandles) const
+	{
+
+		for (int i=0;i<m_bodyHandles.size();i++)
+		{
+			if (m_bodyHandles[i].getNextFree()==B3_POOL_HANDLE_TERMINAL_USED)
+			{
+				usedHandles.push_back(i);
+			}
+		}
+	}
+
+	
+
+	T* getHandle(int handle)
+	{
+		b3Assert(handle>=0);
+		b3Assert(handle<m_bodyHandles.size());
+		if ((handle<0) || (handle>=m_bodyHandles.size()))
+		{
+			return 0;
+		}
+
+		if (m_bodyHandles[handle].getNextFree()==B3_POOL_HANDLE_TERMINAL_USED)
+		{
+			return &m_bodyHandles[handle];
+		}
+		return 0;
+
+	}
+	const T* getHandle(int handle) const
+	{
+		b3Assert(handle>=0);
+		b3Assert(handle<m_bodyHandles.size());
+		if ((handle<0) || (handle>=m_bodyHandles.size()))
+		{
+			return 0;
+		}
+
+		if (m_bodyHandles[handle].getNextFree()==B3_POOL_HANDLE_TERMINAL_USED)
+		{
+			return &m_bodyHandles[handle];
+		}
+		return 0;
+	}
+
+	void increaseHandleCapacity(int extraCapacity)
+	{
+		int curCapacity = m_bodyHandles.size();
+		//b3Assert(curCapacity == m_numUsedHandles);
+		int newCapacity = curCapacity + extraCapacity;
+		m_bodyHandles.resize(newCapacity);
+
+		{
+			for (int i = curCapacity; i < newCapacity; i++)
+				m_bodyHandles[i].setNextFree(i + 1);
+
+
+			m_bodyHandles[newCapacity - 1].setNextFree(-1);
+		}
+		m_firstFreeHandle = curCapacity;
+	}
+	void initHandles()
+	{
+		m_numUsedHandles = 0;
+		m_firstFreeHandle = -1;
+
+		increaseHandleCapacity(1);
+	}
+
+	void exitHandles()
+	{
+		m_bodyHandles.resize(0);
+		m_firstFreeHandle = -1;
+		m_numUsedHandles = 0;
+	}
+
+	int allocHandle()
+	{
+		b3Assert(m_firstFreeHandle>=0);
+
+		int handle = m_firstFreeHandle;
+		m_firstFreeHandle = getHandleInternal(handle)->getNextFree();
+		m_numUsedHandles++;
+
+		if (m_firstFreeHandle<0)
+		{
+			//int curCapacity = m_bodyHandles.size();
+			int additionalCapacity= m_bodyHandles.size();
+			increaseHandleCapacity(additionalCapacity);
+
+
+			getHandleInternal(handle)->setNextFree(m_firstFreeHandle);
+		}
+		getHandleInternal(handle)->setNextFree(B3_POOL_HANDLE_TERMINAL_USED);
+		getHandleInternal(handle)->clear();
+		return handle;
+	}
+
+
+	void freeHandle(int handle)
+	{
+		b3Assert(handle >= 0);
+
+		if (m_bodyHandles[handle].getNextFree()==B3_POOL_HANDLE_TERMINAL_USED)
+		{
+			getHandleInternal(handle)->clear();
+			getHandleInternal(handle)->setNextFree(m_firstFreeHandle);
+			m_firstFreeHandle = handle;
+			m_numUsedHandles--;
+		}
+	}
+};
+	///end handle management
+	
+	#endif //B3_RESIZABLE_POOL_H
+	
\ No newline at end of file
diff --git a/thirdparty/bullet/src/Bullet3Common/b3Scalar.h b/thirdparty/bullet/src/Bullet3Common/b3Scalar.h
new file mode 100644
index 0000000000..dbc7fea397
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/b3Scalar.h
@@ -0,0 +1,663 @@
+/*
+Copyright (c) 2003-2013 Gino van den Bergen / 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 B3_SCALAR_H
+#define B3_SCALAR_H
+
+#ifdef B3_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>
+
+//Original repository is at http://github.com/erwincoumans/bullet3
+#define B3_BULLET_VERSION 300
+
+inline int	b3GetVersion()
+{
+	return B3_BULLET_VERSION;
+}
+
+#if defined(DEBUG) || defined (_DEBUG)
+#define B3_DEBUG
+#endif
+
+#include "b3Logging.h"//for b3Error
+
+
+#ifdef _WIN32
+
+		#if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300)
+
+			#define B3_FORCE_INLINE inline
+			#define B3_ATTRIBUTE_ALIGNED16(a) a
+			#define B3_ATTRIBUTE_ALIGNED64(a) a
+			#define B3_ATTRIBUTE_ALIGNED128(a) a
+		#else
+			//#define B3_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 B3_FORCE_INLINE __forceinline
+			#define B3_ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a
+			#define B3_ATTRIBUTE_ALIGNED64(a) __declspec(align(64)) a
+			#define B3_ATTRIBUTE_ALIGNED128(a) __declspec (align(128)) a
+		#ifdef _XBOX
+			#define B3_USE_VMX128
+
+			#include <ppcintrinsics.h>
+ 			#define B3_HAVE_NATIVE_FSEL
+ 			#define b3Fsel(a,b,c) __fsel((a),(b),(c))
+		#else
+
+#if (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (B3_USE_DOUBLE_PRECISION))
+	#if (defined (_M_IX86) || defined (_M_X64))
+			#define B3_USE_SSE
+			#ifdef B3_USE_SSE
+			//B3_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 B3_USE_SSE_IN_API
+			#endif //B3_USE_SSE
+			#include <emmintrin.h>
+	#endif
+#endif
+
+		#endif//_XBOX
+
+		#endif //__MINGW32__
+
+#ifdef B3_DEBUG
+	#ifdef _MSC_VER
+		#include <stdio.h>
+		#define b3Assert(x) { if(!(x)){b3Error("Assert "__FILE__ ":%u ("#x")\n", __LINE__);__debugbreak();	}}
+	#else//_MSC_VER
+		#include <assert.h>
+		#define b3Assert assert
+	#endif//_MSC_VER
+#else
+		#define b3Assert(x)
+#endif
+		//b3FullAssert is optional, slows down a lot
+		#define b3FullAssert(x)
+
+		#define b3Likely(_c)  _c
+		#define b3Unlikely(_c) _c
+
+#else
+	
+#if defined	(__CELLOS_LV2__)
+		#define B3_FORCE_INLINE inline __attribute__((always_inline))
+		#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
+		#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
+		#define B3_ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
+		#ifndef assert
+		#include <assert.h>
+		#endif
+#ifdef B3_DEBUG
+#ifdef __SPU__
+#include <spu_printf.h>
+#define printf spu_printf
+	#define b3Assert(x) {if(!(x)){b3Error("Assert "__FILE__ ":%u ("#x")\n", __LINE__);spu_hcmpeq(0,0);}}
+#else
+	#define b3Assert assert
+#endif
+	
+#else
+		#define b3Assert(x)
+#endif
+		//b3FullAssert is optional, slows down a lot
+		#define b3FullAssert(x)
+
+		#define b3Likely(_c)  _c
+		#define b3Unlikely(_c) _c
+
+#else
+
+#ifdef USE_LIBSPE2
+
+		#define B3_FORCE_INLINE __inline
+		#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
+		#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
+		#define B3_ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
+		#ifndef assert
+		#include <assert.h>
+		#endif
+#ifdef B3_DEBUG
+		#define b3Assert assert
+#else
+		#define b3Assert(x)
+#endif
+		//b3FullAssert is optional, slows down a lot
+		#define b3FullAssert(x)
+
+
+		#define b3Likely(_c)   __builtin_expect((_c), 1)
+		#define b3Unlikely(_c) __builtin_expect((_c), 0)
+		
+
+#else
+	//non-windows systems
+
+#if (defined (__APPLE__) && (!defined (B3_USE_DOUBLE_PRECISION)))
+    #if defined (__i386__) || defined (__x86_64__)
+        #define B3_USE_SSE
+		//B3_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 B3_USE_SSE_IN_API
+        #ifdef B3_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 //B3_USE_SSE
+    #elif defined( __armv7__ )
+        #ifdef __clang__
+            #define B3_USE_NEON 1
+
+            #if defined B3_USE_NEON && defined (__clang__)
+                #include <arm_neon.h>
+            #endif//B3_USE_NEON
+       #endif //__clang__
+    #endif//__arm__
+
+	#define B3_FORCE_INLINE inline __attribute__ ((always_inline))
+///@todo: check out alignment methods for other platforms/compilers
+	#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
+	#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
+	#define B3_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 b3Assert(x)\
+	{\
+	if(!(x))\
+	{\
+		b3Error("Assert %s in line %d, file %s\n",#x, __LINE__, __FILE__);\
+		asm volatile ("int3");\
+	}\
+	}
+	#else//defined (__i386__) || defined (__x86_64__)
+		#define b3Assert assert
+	#endif//defined (__i386__) || defined (__x86_64__)
+	#else//defined(DEBUG) || defined (_DEBUG)
+		#define b3Assert(x)
+	#endif//defined(DEBUG) || defined (_DEBUG)
+
+	//b3FullAssert is optional, slows down a lot
+	#define b3FullAssert(x)
+	#define b3Likely(_c)  _c
+	#define b3Unlikely(_c) _c
+
+#else
+
+		#define B3_FORCE_INLINE inline
+		///@todo: check out alignment methods for other platforms/compilers
+		#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
+		#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
+		#define B3_ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
+		///#define B3_ATTRIBUTE_ALIGNED16(a) a
+		///#define B3_ATTRIBUTE_ALIGNED64(a) a
+		///#define B3_ATTRIBUTE_ALIGNED128(a) a
+		#ifndef assert
+		#include <assert.h>
+		#endif
+
+#if defined(DEBUG) || defined (_DEBUG)
+		#define b3Assert assert
+#else
+		#define b3Assert(x)
+#endif
+
+		//b3FullAssert is optional, slows down a lot
+		#define b3FullAssert(x)
+		#define b3Likely(_c)  _c
+		#define b3Unlikely(_c) _c
+#endif //__APPLE__ 
+
+#endif // LIBSPE2
+
+#endif	//__CELLOS_LV2__
+#endif
+
+
+///The b3Scalar type abstracts floating point numbers, to easily switch between double and single floating point precision.
+#if defined(B3_USE_DOUBLE_PRECISION)
+typedef double b3Scalar;
+//this number could be bigger in double precision
+#define B3_LARGE_FLOAT 1e30
+#else
+typedef float b3Scalar;
+//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX
+#define B3_LARGE_FLOAT 1e18f
+#endif
+
+#ifdef B3_USE_SSE
+typedef __m128 b3SimdFloat4;
+#endif//B3_USE_SSE
+
+#if defined B3_USE_SSE_IN_API && defined (B3_USE_SSE)
+#ifdef _WIN32
+
+#ifndef B3_NAN
+static int b3NanMask = 0x7F800001;
+#define B3_NAN (*(float*)&b3NanMask)
+#endif
+
+#ifndef B3_INFINITY_MASK
+static  int b3InfinityMask = 0x7F800000;
+#define B3_INFINITY_MASK (*(float*)&b3InfinityMask)
+#endif
+
+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);
+}
+
+#define b3CastfTo128i(a) (_mm_castps_si128(a))
+#define b3CastfTo128d(a) (_mm_castps_pd(a))
+#define b3CastiTo128f(a) (_mm_castsi128_ps(a))
+#define b3CastdTo128f(a) (_mm_castpd_ps(a))
+#define b3CastdTo128i(a) (_mm_castpd_si128(a))
+#define b3Assign128(r0,r1,r2,r3) _mm_setr_ps(r0,r1,r2,r3)
+
+#else//_WIN32
+
+#define b3CastfTo128i(a) ((__m128i)(a))
+#define b3CastfTo128d(a) ((__m128d)(a))
+#define b3CastiTo128f(a)  ((__m128) (a))
+#define b3CastdTo128f(a) ((__m128) (a))
+#define b3CastdTo128i(a) ((__m128i)(a))
+#define b3Assign128(r0,r1,r2,r3) (__m128){r0,r1,r2,r3}
+#endif//_WIN32
+#endif //B3_USE_SSE_IN_API
+
+#ifdef B3_USE_NEON
+#include <arm_neon.h>
+
+typedef float32x4_t b3SimdFloat4;
+#define B3_INFINITY INFINITY
+#define B3_NAN NAN
+#define b3Assign128(r0,r1,r2,r3) (float32x4_t){r0,r1,r2,r3}
+#endif
+
+
+
+
+
+#define B3_DECLARE_ALIGNED_ALLOCATOR() \
+   B3_FORCE_INLINE void* operator new(size_t sizeInBytes)   { return b3AlignedAlloc(sizeInBytes,16); }   \
+   B3_FORCE_INLINE void  operator delete(void* ptr)         { b3AlignedFree(ptr); }   \
+   B3_FORCE_INLINE void* operator new(size_t, void* ptr)   { return ptr; }   \
+   B3_FORCE_INLINE void  operator delete(void*, void*)      { }   \
+   B3_FORCE_INLINE void* operator new[](size_t sizeInBytes)   { return b3AlignedAlloc(sizeInBytes,16); }   \
+   B3_FORCE_INLINE void  operator delete[](void* ptr)         { b3AlignedFree(ptr); }   \
+   B3_FORCE_INLINE void* operator new[](size_t, void* ptr)   { return ptr; }   \
+   B3_FORCE_INLINE void  operator delete[](void*, void*)      { }   \
+
+
+
+#if defined(B3_USE_DOUBLE_PRECISION) || defined(B3_FORCE_DOUBLE_FUNCTIONS)
+		
+B3_FORCE_INLINE b3Scalar b3Sqrt(b3Scalar x) { return sqrt(x); }
+B3_FORCE_INLINE b3Scalar b3Fabs(b3Scalar x) { return fabs(x); }
+B3_FORCE_INLINE b3Scalar b3Cos(b3Scalar x) { return cos(x); }
+B3_FORCE_INLINE b3Scalar b3Sin(b3Scalar x) { return sin(x); }
+B3_FORCE_INLINE b3Scalar b3Tan(b3Scalar x) { return tan(x); }
+B3_FORCE_INLINE b3Scalar b3Acos(b3Scalar x) { if (x<b3Scalar(-1))	x=b3Scalar(-1); if (x>b3Scalar(1))	x=b3Scalar(1); return acos(x); }
+B3_FORCE_INLINE b3Scalar b3Asin(b3Scalar x) { if (x<b3Scalar(-1))	x=b3Scalar(-1); if (x>b3Scalar(1))	x=b3Scalar(1); return asin(x); }
+B3_FORCE_INLINE b3Scalar b3Atan(b3Scalar x) { return atan(x); }
+B3_FORCE_INLINE b3Scalar b3Atan2(b3Scalar x, b3Scalar y) { return atan2(x, y); }
+B3_FORCE_INLINE b3Scalar b3Exp(b3Scalar x) { return exp(x); }
+B3_FORCE_INLINE b3Scalar b3Log(b3Scalar x) { return log(x); }
+B3_FORCE_INLINE b3Scalar b3Pow(b3Scalar x,b3Scalar y) { return pow(x,y); }
+B3_FORCE_INLINE b3Scalar b3Fmod(b3Scalar x,b3Scalar y) { return fmod(x,y); }
+
+#else
+		
+B3_FORCE_INLINE b3Scalar b3Sqrt(b3Scalar y) 
+{ 
+#ifdef USE_APPROXIMATION
+    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*b3Scalar(0.5);
+	x = (b3Scalar(1.5)*x)-(x*x)*(x*z);         /* iteration formula     */
+	x = (b3Scalar(1.5)*x)-(x*x)*(x*z);
+	x = (b3Scalar(1.5)*x)-(x*x)*(x*z);
+	x = (b3Scalar(1.5)*x)-(x*x)*(x*z);
+	x = (b3Scalar(1.5)*x)-(x*x)*(x*z);
+	return x*y;
+#else
+	return sqrtf(y); 
+#endif
+}
+B3_FORCE_INLINE b3Scalar b3Fabs(b3Scalar x) { return fabsf(x); }
+B3_FORCE_INLINE b3Scalar b3Cos(b3Scalar x) { return cosf(x); }
+B3_FORCE_INLINE b3Scalar b3Sin(b3Scalar x) { return sinf(x); }
+B3_FORCE_INLINE b3Scalar b3Tan(b3Scalar x) { return tanf(x); }
+B3_FORCE_INLINE b3Scalar b3Acos(b3Scalar x) { 
+	if (x<b3Scalar(-1))	
+		x=b3Scalar(-1); 
+	if (x>b3Scalar(1))	
+		x=b3Scalar(1);
+	return acosf(x); 
+}
+B3_FORCE_INLINE b3Scalar b3Asin(b3Scalar x) { 
+	if (x<b3Scalar(-1))	
+		x=b3Scalar(-1); 
+	if (x>b3Scalar(1))	
+		x=b3Scalar(1);
+	return asinf(x); 
+}
+B3_FORCE_INLINE b3Scalar b3Atan(b3Scalar x) { return atanf(x); }
+B3_FORCE_INLINE b3Scalar b3Atan2(b3Scalar x, b3Scalar y) { return atan2f(x, y); }
+B3_FORCE_INLINE b3Scalar b3Exp(b3Scalar x) { return expf(x); }
+B3_FORCE_INLINE b3Scalar b3Log(b3Scalar x) { return logf(x); }
+B3_FORCE_INLINE b3Scalar b3Pow(b3Scalar x,b3Scalar y) { return powf(x,y); }
+B3_FORCE_INLINE b3Scalar b3Fmod(b3Scalar x,b3Scalar y) { return fmodf(x,y); }
+	
+#endif
+
+#define B3_2_PI         b3Scalar(6.283185307179586232)
+#define B3_PI           (B3_2_PI * b3Scalar(0.5))
+#define B3_HALF_PI      (B3_2_PI * b3Scalar(0.25))
+#define B3_RADS_PER_DEG (B3_2_PI / b3Scalar(360.0))
+#define B3_DEGS_PER_RAD  (b3Scalar(360.0) / B3_2_PI)
+#define B3_SQRT12 b3Scalar(0.7071067811865475244008443621048490)
+
+#define b3RecipSqrt(x) ((b3Scalar)(b3Scalar(1.0)/b3Sqrt(b3Scalar(x))))		/* reciprocal square root */
+
+
+#ifdef B3_USE_DOUBLE_PRECISION
+#define B3_EPSILON      DBL_EPSILON
+#define B3_INFINITY     DBL_MAX
+#else
+#define B3_EPSILON      FLT_EPSILON
+#define B3_INFINITY     FLT_MAX
+#endif
+
+B3_FORCE_INLINE b3Scalar b3Atan2Fast(b3Scalar y, b3Scalar x) 
+{
+	b3Scalar coeff_1 = B3_PI / 4.0f;
+	b3Scalar coeff_2 = 3.0f * coeff_1;
+	b3Scalar abs_y = b3Fabs(y);
+	b3Scalar angle;
+	if (x >= 0.0f) {
+		b3Scalar r = (x - abs_y) / (x + abs_y);
+		angle = coeff_1 - coeff_1 * r;
+	} else {
+		b3Scalar r = (x + abs_y) / (abs_y - x);
+		angle = coeff_2 - coeff_1 * r;
+	}
+	return (y < 0.0f) ? -angle : angle;
+}
+
+B3_FORCE_INLINE bool      b3FuzzyZero(b3Scalar x) { return b3Fabs(x) < B3_EPSILON; }
+
+B3_FORCE_INLINE bool	b3Equal(b3Scalar a, b3Scalar eps) {
+	return (((a) <= eps) && !((a) < -eps));
+}
+B3_FORCE_INLINE bool	b3GreaterEqual (b3Scalar a, b3Scalar eps) {
+	return (!((a) <= eps));
+}
+
+
+B3_FORCE_INLINE int       b3IsNegative(b3Scalar x) {
+    return x < b3Scalar(0.0) ? 1 : 0;
+}
+
+B3_FORCE_INLINE b3Scalar b3Radians(b3Scalar x) { return x * B3_RADS_PER_DEG; }
+B3_FORCE_INLINE b3Scalar b3Degrees(b3Scalar x) { return x * B3_DEGS_PER_RAD; }
+
+#define B3_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
+
+#ifndef b3Fsel
+B3_FORCE_INLINE b3Scalar b3Fsel(b3Scalar a, b3Scalar b, b3Scalar c)
+{
+	return a >= 0 ? b : c;
+}
+#endif
+#define b3Fsels(a,b,c) (b3Scalar)b3Fsel(a,b,c)
+
+
+B3_FORCE_INLINE bool b3MachineIsLittleEndian()
+{
+   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;
+}
+
+
+
+///b3Select 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
+B3_FORCE_INLINE unsigned b3Select(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)); 
+}
+B3_FORCE_INLINE int b3Select(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));
+}
+B3_FORCE_INLINE float b3Select(unsigned condition, float valueIfConditionNonZero, float valueIfConditionZero)
+{
+#ifdef B3_HAVE_NATIVE_FSEL
+    return (float)b3Fsel((b3Scalar)condition - b3Scalar(1.0f), valueIfConditionNonZero, valueIfConditionZero);
+#else
+    return (condition != 0) ? valueIfConditionNonZero : valueIfConditionZero; 
+#endif
+}
+
+template<typename T> B3_FORCE_INLINE void b3Swap(T& a, T& b)
+{
+	T tmp = a;
+	a = b;
+	b = tmp;
+}
+
+
+//PCK: endian swapping functions
+B3_FORCE_INLINE unsigned b3SwapEndian(unsigned val)
+{
+	return (((val & 0xff000000) >> 24) | ((val & 0x00ff0000) >> 8) | ((val & 0x0000ff00) << 8)  | ((val & 0x000000ff) << 24));
+}
+
+B3_FORCE_INLINE unsigned short b3SwapEndian(unsigned short val)
+{
+	return static_cast<unsigned short>(((val & 0xff00) >> 8) | ((val & 0x00ff) << 8));
+}
+
+B3_FORCE_INLINE unsigned b3SwapEndian(int val)
+{
+	return b3SwapEndian((unsigned)val);
+}
+
+B3_FORCE_INLINE unsigned short b3SwapEndian(short val)
+{
+	return b3SwapEndian((unsigned short) val);
+}
+
+///b3SwapFloat uses using char pointers to swap the endianness
+////b3SwapFloat/b3SwapDouble 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
+B3_FORCE_INLINE unsigned int  b3SwapEndianFloat(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
+B3_FORCE_INLINE float b3UnswapEndianFloat(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
+B3_FORCE_INLINE void  b3SwapEndianDouble(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
+B3_FORCE_INLINE double b3UnswapEndianDouble(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;
+}
+
+// returns normalized value in range [-B3_PI, B3_PI]
+B3_FORCE_INLINE b3Scalar b3NormalizeAngle(b3Scalar angleInRadians) 
+{
+	angleInRadians = b3Fmod(angleInRadians, B3_2_PI);
+	if(angleInRadians < -B3_PI)
+	{
+		return angleInRadians + B3_2_PI;
+	}
+	else if(angleInRadians > B3_PI)
+	{
+		return angleInRadians - B3_2_PI;
+	}
+	else
+	{
+		return angleInRadians;
+	}
+}
+
+///rudimentary class to provide type info
+struct b3TypedObject
+{
+	b3TypedObject(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* b3AlignPointer(T* unalignedPtr, size_t alignment)
+{
+		
+	struct b3ConvertPointerSizeT
+	{
+		union 
+		{
+				T* ptr;
+				size_t integer;
+		};
+	};
+    b3ConvertPointerSizeT converter;
+    
+    
+	const size_t bit_mask = ~(alignment - 1);
+    converter.ptr = unalignedPtr;
+	converter.integer += alignment-1;
+	converter.integer &= bit_mask;
+	return converter.ptr;
+}
+
+#endif //B3_SCALAR_H
diff --git a/thirdparty/bullet/src/Bullet3Common/b3StackAlloc.h b/thirdparty/bullet/src/Bullet3Common/b3StackAlloc.h
new file mode 100644
index 0000000000..de7de056b5
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/b3StackAlloc.h
@@ -0,0 +1,116 @@
+/*
+Copyright (c) 2003-2013 Gino van den Bergen / 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.
+*/
+
+/*
+StackAlloc extracted from GJK-EPA collision solver by Nathanael Presson
+Nov.2006
+*/
+
+#ifndef B3_STACK_ALLOC
+#define B3_STACK_ALLOC
+
+#include "b3Scalar.h" //for b3Assert
+#include "b3AlignedAllocator.h"
+
+///The b3Block class is an internal structure for the b3StackAlloc memory allocator.
+struct b3Block
+{
+	b3Block*			previous;
+	unsigned char*		address;
+};
+
+///The StackAlloc class provides some fast stack-based memory allocator (LIFO last-in first-out)
+class b3StackAlloc
+{
+public:
+
+	b3StackAlloc(unsigned int size)	{ ctor();create(size); }
+	~b3StackAlloc()		{ destroy(); }
+	
+	inline void		create(unsigned int size)
+	{
+		destroy();
+		data		=  (unsigned char*) b3AlignedAlloc(size,16);
+		totalsize	=	size;
+	}
+	inline void		destroy()
+	{
+		b3Assert(usedsize==0);
+		//Raise(L"StackAlloc is still in use");
+
+		if(usedsize==0)
+		{
+			if(!ischild && data)		
+				b3AlignedFree(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));
+		}
+		b3Assert(0);
+		//&& (L"Not enough memory"));
+		
+		return(0);
+	}
+	B3_FORCE_INLINE b3Block*		beginBlock()
+	{
+		b3Block*	pb = (b3Block*)allocate(sizeof(b3Block));
+		pb->previous	=	current;
+		pb->address		=	data+usedsize;
+		current			=	pb;
+		return(pb);
+	}
+	B3_FORCE_INLINE void		endBlock(b3Block* block)
+	{
+		b3Assert(block==current);
+		//Raise(L"Unmatched blocks");
+		if(block==current)
+		{
+			current		=	block->previous;
+			usedsize	=	(unsigned int)((block->address-data)-sizeof(b3Block));
+		}
+	}
+
+private:
+	void		ctor()
+	{
+		data		=	0;
+		totalsize	=	0;
+		usedsize	=	0;
+		current		=	0;
+		ischild		=	false;
+	}
+	unsigned char*		data;
+	unsigned int		totalsize;
+	unsigned int		usedsize;
+	b3Block*	current;
+	bool		ischild;
+};
+
+#endif //B3_STACK_ALLOC
diff --git a/thirdparty/bullet/src/Bullet3Common/b3Transform.h b/thirdparty/bullet/src/Bullet3Common/b3Transform.h
new file mode 100644
index 0000000000..fa480759be
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/b3Transform.h
@@ -0,0 +1,304 @@
+/*
+Copyright (c) 2003-2013 Gino van den Bergen / 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 B3_TRANSFORM_H
+#define B3_TRANSFORM_H
+
+
+#include "b3Matrix3x3.h"
+
+#ifdef B3_USE_DOUBLE_PRECISION
+#define b3TransformData b3TransformDoubleData
+#else
+#define b3TransformData b3TransformFloatData
+#endif
+
+
+
+
+/**@brief The b3Transform class supports rigid transforms with only translation and rotation and no scaling/shear.
+ *It can be used in combination with b3Vector3, b3Quaternion and b3Matrix3x3 linear algebra classes. */
+B3_ATTRIBUTE_ALIGNED16(class) b3Transform {
+	
+  ///Storage for the rotation
+	b3Matrix3x3 m_basis;
+  ///Storage for the translation
+	b3Vector3   m_origin;
+
+public:
+	
+  /**@brief No initialization constructor */
+	b3Transform() {}
+  /**@brief Constructor from b3Quaternion (optional b3Vector3 )
+   * @param q Rotation from quaternion 
+   * @param c Translation from Vector (default 0,0,0) */
+	explicit B3_FORCE_INLINE b3Transform(const b3Quaternion& q, 
+		const b3Vector3& c = b3MakeVector3(b3Scalar(0), b3Scalar(0), b3Scalar(0))) 
+		: m_basis(q),
+		m_origin(c)
+	{}
+
+  /**@brief Constructor from b3Matrix3x3 (optional b3Vector3)
+   * @param b Rotation from Matrix 
+   * @param c Translation from Vector default (0,0,0)*/
+	explicit B3_FORCE_INLINE b3Transform(const b3Matrix3x3& b, 
+		const b3Vector3& c = b3MakeVector3(b3Scalar(0), b3Scalar(0), b3Scalar(0)))
+		: m_basis(b),
+		m_origin(c)
+	{}
+  /**@brief Copy constructor */
+	B3_FORCE_INLINE b3Transform (const b3Transform& other)
+		: m_basis(other.m_basis),
+		m_origin(other.m_origin)
+	{
+	}
+  /**@brief Assignment Operator */
+	B3_FORCE_INLINE b3Transform& operator=(const b3Transform& 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 */
+		B3_FORCE_INLINE void mult(const b3Transform& t1, const b3Transform& t2) {
+			m_basis = t1.m_basis * t2.m_basis;
+			m_origin = t1(t2.m_origin);
+		}
+
+/*		void multInverseLeft(const b3Transform& t1, const b3Transform& t2) {
+			b3Vector3 v = t2.m_origin - t1.m_origin;
+			m_basis = b3MultTransposeLeft(t1.m_basis, t2.m_basis);
+			m_origin = v * t1.m_basis;
+		}
+		*/
+
+/**@brief Return the transform of the vector */
+	B3_FORCE_INLINE b3Vector3 operator()(const b3Vector3& x) const
+	{
+        return x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin;
+	}
+
+  /**@brief Return the transform of the vector */
+	B3_FORCE_INLINE b3Vector3 operator*(const b3Vector3& x) const
+	{
+		return (*this)(x);
+	}
+
+  /**@brief Return the transform of the b3Quaternion */
+	B3_FORCE_INLINE b3Quaternion operator*(const b3Quaternion& q) const
+	{
+		return getRotation() * q;
+	}
+
+  /**@brief Return the basis matrix for the rotation */
+	B3_FORCE_INLINE b3Matrix3x3&       getBasis()          { return m_basis; }
+  /**@brief Return the basis matrix for the rotation */
+	B3_FORCE_INLINE const b3Matrix3x3& getBasis()    const { return m_basis; }
+
+  /**@brief Return the origin vector translation */
+	B3_FORCE_INLINE b3Vector3&         getOrigin()         { return m_origin; }
+  /**@brief Return the origin vector translation */
+	B3_FORCE_INLINE const b3Vector3&   getOrigin()   const { return m_origin; }
+
+  /**@brief Return a quaternion representing the rotation */
+	b3Quaternion getRotation() const { 
+		b3Quaternion q;
+		m_basis.getRotation(q);
+		return q;
+	}
+	
+	
+  /**@brief Set from an array 
+   * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
+	void setFromOpenGLMatrix(const b3Scalar *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 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
+	void getOpenGLMatrix(b3Scalar *m) const 
+	{
+		m_basis.getOpenGLSubMatrix(m);
+		m[12] = m_origin.getX();
+		m[13] = m_origin.getY();
+		m[14] = m_origin.getZ();
+		m[15] = b3Scalar(1.0);
+	}
+
+  /**@brief Set the translational element
+   * @param origin The vector to set the translation to */
+	B3_FORCE_INLINE void setOrigin(const b3Vector3& origin) 
+	{ 
+		m_origin = origin;
+	}
+
+	B3_FORCE_INLINE b3Vector3 invXform(const b3Vector3& inVec) const;
+
+
+  /**@brief Set the rotational element by b3Matrix3x3 */
+	B3_FORCE_INLINE void setBasis(const b3Matrix3x3& basis)
+	{ 
+		m_basis = basis;
+	}
+
+  /**@brief Set the rotational element by b3Quaternion */
+	B3_FORCE_INLINE void setRotation(const b3Quaternion& q)
+	{
+		m_basis.setRotation(q);
+	}
+
+
+  /**@brief Set this transformation to the identity */
+	void setIdentity()
+	{
+		m_basis.setIdentity();
+		m_origin.setValue(b3Scalar(0.0), b3Scalar(0.0), b3Scalar(0.0));
+	}
+
+  /**@brief Multiply this Transform by another(this = this * another) 
+   * @param t The other transform */
+	b3Transform& operator*=(const b3Transform& t) 
+	{
+		m_origin += m_basis * t.m_origin;
+		m_basis *= t.m_basis;
+		return *this;
+	}
+
+  /**@brief Return the inverse of this transform */
+	b3Transform inverse() const
+	{ 
+		b3Matrix3x3 inv = m_basis.transpose();
+		return b3Transform(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 */
+	b3Transform inverseTimes(const b3Transform& t) const;  
+
+  /**@brief Return the product of this transform and the other */
+	b3Transform operator*(const b3Transform& t) const;
+
+  /**@brief Return an identity transform */
+	static const b3Transform&	getIdentity()
+	{
+		static const b3Transform identityTransform(b3Matrix3x3::getIdentity());
+		return identityTransform;
+	}
+
+	void	serialize(struct	b3TransformData& dataOut) const;
+
+	void	serializeFloat(struct	b3TransformFloatData& dataOut) const;
+
+	void	deSerialize(const struct	b3TransformData& dataIn);
+
+	void	deSerializeDouble(const struct	b3TransformDoubleData& dataIn);
+
+	void	deSerializeFloat(const struct	b3TransformFloatData& dataIn);
+
+};
+
+
+B3_FORCE_INLINE b3Vector3
+b3Transform::invXform(const b3Vector3& inVec) const
+{
+	b3Vector3 v = inVec - m_origin;
+	return (m_basis.transpose() * v);
+}
+
+B3_FORCE_INLINE b3Transform 
+b3Transform::inverseTimes(const b3Transform& t) const  
+{
+	b3Vector3 v = t.getOrigin() - m_origin;
+		return b3Transform(m_basis.transposeTimes(t.m_basis),
+			v * m_basis);
+}
+
+B3_FORCE_INLINE b3Transform 
+b3Transform::operator*(const b3Transform& t) const
+{
+	return b3Transform(m_basis * t.m_basis, 
+		(*this)(t.m_origin));
+}
+
+/**@brief Test if two transforms have all elements equal */
+B3_FORCE_INLINE bool operator==(const b3Transform& t1, const b3Transform& t2)
+{
+   return ( t1.getBasis()  == t2.getBasis() &&
+            t1.getOrigin() == t2.getOrigin() );
+}
+
+
+///for serialization
+struct	b3TransformFloatData
+{
+	b3Matrix3x3FloatData	m_basis;
+	b3Vector3FloatData	m_origin;
+};
+
+struct	b3TransformDoubleData
+{
+	b3Matrix3x3DoubleData	m_basis;
+	b3Vector3DoubleData	m_origin;
+};
+
+
+
+B3_FORCE_INLINE	void	b3Transform::serialize(b3TransformData& dataOut) const
+{
+	m_basis.serialize(dataOut.m_basis);
+	m_origin.serialize(dataOut.m_origin);
+}
+
+B3_FORCE_INLINE	void	b3Transform::serializeFloat(b3TransformFloatData& dataOut) const
+{
+	m_basis.serializeFloat(dataOut.m_basis);
+	m_origin.serializeFloat(dataOut.m_origin);
+}
+
+
+B3_FORCE_INLINE	void	b3Transform::deSerialize(const b3TransformData& dataIn)
+{
+	m_basis.deSerialize(dataIn.m_basis);
+	m_origin.deSerialize(dataIn.m_origin);
+}
+
+B3_FORCE_INLINE	void	b3Transform::deSerializeFloat(const b3TransformFloatData& dataIn)
+{
+	m_basis.deSerializeFloat(dataIn.m_basis);
+	m_origin.deSerializeFloat(dataIn.m_origin);
+}
+
+B3_FORCE_INLINE	void	b3Transform::deSerializeDouble(const b3TransformDoubleData& dataIn)
+{
+	m_basis.deSerializeDouble(dataIn.m_basis);
+	m_origin.deSerializeDouble(dataIn.m_origin);
+}
+
+
+#endif //B3_TRANSFORM_H
+
+
+
+
+
+
diff --git a/thirdparty/bullet/src/Bullet3Common/b3TransformUtil.h b/thirdparty/bullet/src/Bullet3Common/b3TransformUtil.h
new file mode 100644
index 0000000000..6ce580c132
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/b3TransformUtil.h
@@ -0,0 +1,228 @@
+/*
+Copyright (c) 2003-2013 Gino van den Bergen / 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 B3_TRANSFORM_UTIL_H
+#define B3_TRANSFORM_UTIL_H
+
+#include "b3Transform.h"
+#define B3_ANGULAR_MOTION_THRESHOLD b3Scalar(0.5)*B3_HALF_PI
+
+
+
+
+B3_FORCE_INLINE b3Vector3 b3AabbSupport(const b3Vector3& halfExtents,const b3Vector3& supportDir)
+{
+	return b3MakeVector3(supportDir.getX() < b3Scalar(0.0) ? -halfExtents.getX() : halfExtents.getX(),
+      supportDir.getY() < b3Scalar(0.0) ? -halfExtents.getY() : halfExtents.getY(),
+      supportDir.getZ() < b3Scalar(0.0) ? -halfExtents.getZ() : halfExtents.getZ()); 
+}
+
+
+
+
+
+
+/// Utils related to temporal transforms
+class b3TransformUtil
+{
+
+public:
+
+	static void integrateTransform(const b3Transform& curTrans,const b3Vector3& linvel,const b3Vector3& angvel,b3Scalar timeStep,b3Transform& predictedTransform)
+	{
+		predictedTransform.setOrigin(curTrans.getOrigin() + linvel * timeStep);
+//	#define QUATERNION_DERIVATIVE
+	#ifdef QUATERNION_DERIVATIVE
+		b3Quaternion predictedOrn = curTrans.getRotation();
+		predictedOrn += (angvel * predictedOrn) * (timeStep * b3Scalar(0.5));
+		predictedOrn.normalize();
+	#else
+		//Exponential map
+		//google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia
+
+		b3Vector3 axis;
+		b3Scalar	fAngle = angvel.length(); 
+		//limit the angular motion
+		if (fAngle*timeStep > B3_ANGULAR_MOTION_THRESHOLD)
+		{
+			fAngle = B3_ANGULAR_MOTION_THRESHOLD / timeStep;
+		}
+
+		if ( fAngle < b3Scalar(0.001) )
+		{
+			// use Taylor's expansions of sync function
+			axis   = angvel*( b3Scalar(0.5)*timeStep-(timeStep*timeStep*timeStep)*(b3Scalar(0.020833333333))*fAngle*fAngle );
+		}
+		else
+		{
+			// sync(fAngle) = sin(c*fAngle)/t
+			axis   = angvel*( b3Sin(b3Scalar(0.5)*fAngle*timeStep)/fAngle );
+		}
+		b3Quaternion dorn (axis.getX(),axis.getY(),axis.getZ(),b3Cos( fAngle*timeStep*b3Scalar(0.5) ));
+		b3Quaternion orn0 = curTrans.getRotation();
+
+		b3Quaternion predictedOrn = dorn * orn0;
+		predictedOrn.normalize();
+	#endif
+		predictedTransform.setRotation(predictedOrn);
+	}
+
+	static void	calculateVelocityQuaternion(const b3Vector3& pos0,const b3Vector3& pos1,const b3Quaternion& orn0,const b3Quaternion& orn1,b3Scalar timeStep,b3Vector3& linVel,b3Vector3& angVel)
+	{
+		linVel = (pos1 - pos0) / timeStep;
+		b3Vector3 axis;
+		b3Scalar  angle;
+		if (orn0 != orn1)
+		{
+			calculateDiffAxisAngleQuaternion(orn0,orn1,axis,angle);
+			angVel = axis * angle / timeStep;
+		} else
+		{
+			angVel.setValue(0,0,0);
+		}
+	}
+
+	static void calculateDiffAxisAngleQuaternion(const b3Quaternion& orn0,const b3Quaternion& orn1a,b3Vector3& axis,b3Scalar& angle)
+	{
+		b3Quaternion orn1 = orn0.nearest(orn1a);
+		b3Quaternion dorn = orn1 * orn0.inverse();
+		angle = dorn.getAngle();
+		axis = b3MakeVector3(dorn.getX(),dorn.getY(),dorn.getZ());
+		axis[3] = b3Scalar(0.);
+		//check for axis length
+		b3Scalar len = axis.length2();
+		if (len < B3_EPSILON*B3_EPSILON)
+			axis = b3MakeVector3(b3Scalar(1.),b3Scalar(0.),b3Scalar(0.));
+		else
+			axis /= b3Sqrt(len);
+	}
+
+	static void	calculateVelocity(const b3Transform& transform0,const b3Transform& transform1,b3Scalar timeStep,b3Vector3& linVel,b3Vector3& angVel)
+	{
+		linVel = (transform1.getOrigin() - transform0.getOrigin()) / timeStep;
+		b3Vector3 axis;
+		b3Scalar  angle;
+		calculateDiffAxisAngle(transform0,transform1,axis,angle);
+		angVel = axis * angle / timeStep;
+	}
+
+	static void calculateDiffAxisAngle(const b3Transform& transform0,const b3Transform& transform1,b3Vector3& axis,b3Scalar& angle)
+	{
+		b3Matrix3x3 dmat = transform1.getBasis() * transform0.getBasis().inverse();
+		b3Quaternion dorn;
+		dmat.getRotation(dorn);
+
+		///floating point inaccuracy can lead to w component > 1..., which breaks 
+		dorn.normalize();
+		
+		angle = dorn.getAngle();
+		axis = b3MakeVector3(dorn.getX(),dorn.getY(),dorn.getZ());
+		axis[3] = b3Scalar(0.);
+		//check for axis length
+		b3Scalar len = axis.length2();
+		if (len < B3_EPSILON*B3_EPSILON)
+			axis = b3MakeVector3(b3Scalar(1.),b3Scalar(0.),b3Scalar(0.));
+		else
+			axis /= b3Sqrt(len);
+	}
+
+};
+
+
+///The b3ConvexSeparatingDistanceUtil can help speed up convex collision detection 
+///by conservatively updating a cached separating distance/vector instead of re-calculating the closest distance
+class	b3ConvexSeparatingDistanceUtil
+{
+	b3Quaternion	m_ornA;
+	b3Quaternion	m_ornB;
+	b3Vector3	m_posA;
+	b3Vector3	m_posB;
+	
+	b3Vector3	m_separatingNormal;
+
+	b3Scalar	m_boundingRadiusA;
+	b3Scalar	m_boundingRadiusB;
+	b3Scalar	m_separatingDistance;
+
+public:
+
+	b3ConvexSeparatingDistanceUtil(b3Scalar	boundingRadiusA,b3Scalar	boundingRadiusB)
+		:m_boundingRadiusA(boundingRadiusA),
+		m_boundingRadiusB(boundingRadiusB),
+		m_separatingDistance(0.f)
+	{
+	}
+
+	b3Scalar	getConservativeSeparatingDistance()
+	{
+		return m_separatingDistance;
+	}
+
+	void	updateSeparatingDistance(const b3Transform& transA,const b3Transform& transB)
+	{
+		const b3Vector3& toPosA = transA.getOrigin();
+		const b3Vector3& toPosB = transB.getOrigin();
+		b3Quaternion toOrnA = transA.getRotation();
+		b3Quaternion toOrnB = transB.getRotation();
+
+		if (m_separatingDistance>0.f)
+		{
+			
+
+			b3Vector3 linVelA,angVelA,linVelB,angVelB;
+			b3TransformUtil::calculateVelocityQuaternion(m_posA,toPosA,m_ornA,toOrnA,b3Scalar(1.),linVelA,angVelA);
+			b3TransformUtil::calculateVelocityQuaternion(m_posB,toPosB,m_ornB,toOrnB,b3Scalar(1.),linVelB,angVelB);
+			b3Scalar maxAngularProjectedVelocity = angVelA.length() * m_boundingRadiusA + angVelB.length() * m_boundingRadiusB;
+			b3Vector3 relLinVel = (linVelB-linVelA);
+			b3Scalar relLinVelocLength = relLinVel.dot(m_separatingNormal);
+			if (relLinVelocLength<0.f)
+			{
+				relLinVelocLength = 0.f;
+			}
+	
+			b3Scalar	projectedMotion = maxAngularProjectedVelocity +relLinVelocLength;
+			m_separatingDistance -= projectedMotion;
+		}
+	
+		m_posA = toPosA;
+		m_posB = toPosB;
+		m_ornA = toOrnA;
+		m_ornB = toOrnB;
+	}
+
+	void	initSeparatingDistance(const b3Vector3& separatingVector,b3Scalar separatingDistance,const b3Transform& transA,const b3Transform& transB)
+	{
+		m_separatingDistance = separatingDistance;
+
+		if (m_separatingDistance>0.f)
+		{
+			m_separatingNormal = separatingVector;
+			
+			const b3Vector3& toPosA = transA.getOrigin();
+			const b3Vector3& toPosB = transB.getOrigin();
+			b3Quaternion toOrnA = transA.getRotation();
+			b3Quaternion toOrnB = transB.getRotation();
+			m_posA = toPosA;
+			m_posB = toPosB;
+			m_ornA = toOrnA;
+			m_ornB = toOrnB;
+		}
+	}
+
+};
+
+
+#endif //B3_TRANSFORM_UTIL_H
+
diff --git a/thirdparty/bullet/src/Bullet3Common/b3Vector3.cpp b/thirdparty/bullet/src/Bullet3Common/b3Vector3.cpp
new file mode 100644
index 0000000000..5f5ac4ac04
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/b3Vector3.cpp
@@ -0,0 +1,1631 @@
+/*
+ Copyright (c) 2011-213 Apple 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.
+
+ This source version has been altered.
+ */
+
+#if defined (_WIN32) || defined (__i386__)
+#define B3_USE_SSE_IN_API
+#endif
+
+#include "b3Vector3.h"
+
+#if defined (B3_USE_SSE) || defined (B3_USE_NEON)
+
+#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 B3_USE_SSE || defined _WIN32
+
+#define LOG2_ARRAY_SIZE     6
+#define STACK_ARRAY_COUNT   (1UL << LOG2_ARRAY_SIZE)
+
+#include <emmintrin.h>
+
+long b3_maxdot_large( const float *vv, const float *vec, unsigned long count, float *dotResult );
+long b3_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 = b3Assign128( -B3_INFINITY,  -B3_INFINITY,  -B3_INFINITY,  -B3_INFINITY );
+    float4 vvec = _mm_loadu_ps( vec );
+    float4 vHi = b3CastiTo128f(_mm_shuffle_epi32( b3CastfTo128i( 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( b3Unlikely( 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 b3_mindot_large( const float *vv, const float *vec, unsigned long count, float *dotResult );
+
+long b3_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 = b3Assign128( B3_INFINITY,  B3_INFINITY,  B3_INFINITY,  B3_INFINITY );
+    float4 vvec = _mm_loadu_ps( vec );
+    float4 vHi = b3CastiTo128f(_mm_shuffle_epi32( b3CastfTo128i( 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(b3Unlikely( 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 B3_USE_NEON
+#define ARM_NEON_GCC_COMPATIBILITY  1
+#include <arm_neon.h>
+
+
+static long b3_maxdot_large_v0( const float *vv, const float *vec, unsigned long count, float *dotResult );
+static long b3_maxdot_large_v1( const float *vv, const float *vec, unsigned long count, float *dotResult );
+static long b3_maxdot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult );
+static long b3_mindot_large_v0( const float *vv, const float *vec, unsigned long count, float *dotResult );
+static long b3_mindot_large_v1( const float *vv, const float *vec, unsigned long count, float *dotResult );
+static long b3_mindot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult );
+
+long (*b3_maxdot_large)( const float *vv, const float *vec, unsigned long count, float *dotResult ) = b3_maxdot_large_sel;
+long (*b3_mindot_large)( const float *vv, const float *vec, unsigned long count, float *dotResult ) = b3_mindot_large_sel;
+
+extern "C" {int  _get_cpu_capabilities( void );}
+
+static long b3_maxdot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult )
+{
+    if( _get_cpu_capabilities() & 0x2000 )
+        b3_maxdot_large = _maxdot_large_v1;
+    else
+        b3_maxdot_large = _maxdot_large_v0;
+
+    return b3_maxdot_large(vv, vec, count, dotResult);
+}
+
+static long b3_mindot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult )
+{
+    if( _get_cpu_capabilities() & 0x2000 )
+        b3_mindot_large = _mindot_large_v1;
+    else
+        b3_mindot_large = _mindot_large_v0;
+
+    return b3_mindot_large(vv, vec, count, dotResult);
+}
+
+
+
+#define vld1q_f32_aligned_postincrement( _ptr ) ({ float32x4_t _r; asm( "vld1.f32  {%0}, [%1, :128]!\n" : "=w" (_r), "+r" (_ptr) ); /*return*/ _r; })
+
+
+long b3_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) { -B3_INFINITY, -B3_INFINITY };
+    float32x2_t dotMaxHi = (float32x2_t) { -B3_INFINITY, -B3_INFINITY };
+    uint32x2_t indexLo = (uint32x2_t) {0, 1};
+    uint32x2_t indexHi = (uint32x2_t) {2, 3};
+    uint32x2_t iLo = (uint32x2_t) {-1, -1};
+    uint32x2_t iHi = (uint32x2_t) {-1, -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 b3_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) { -1, -1, -1, -1 };
+    float32x4_t maxDot = (float32x4_t) { -B3_INFINITY, -B3_INFINITY, -B3_INFINITY, -B3_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 b3_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) { B3_INFINITY, B3_INFINITY };
+    float32x2_t dotMinHi = (float32x2_t) { B3_INFINITY, B3_INFINITY };
+    uint32x2_t indexLo = (uint32x2_t) {0, 1};
+    uint32x2_t indexHi = (uint32x2_t) {2, 3};
+    uint32x2_t iLo = (uint32x2_t) {-1, -1};
+    uint32x2_t iHi = (uint32x2_t) {-1, -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 b3_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) { -1, -1, -1, -1 };
+    float32x4_t minDot = (float32x4_t) { B3_INFINITY, B3_INFINITY, B3_INFINITY, B3_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/src/Bullet3Common/b3Vector3.h b/thirdparty/bullet/src/Bullet3Common/b3Vector3.h
new file mode 100644
index 0000000000..16ec02b0ed
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/b3Vector3.h
@@ -0,0 +1,1344 @@
+/*
+Copyright (c) 2003-2013 Gino van den Bergen / 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 B3_VECTOR3_H
+#define B3_VECTOR3_H
+
+//#include <stdint.h>
+#include "b3Scalar.h"
+#include "b3MinMax.h"
+#include "b3AlignedAllocator.h"
+
+#ifdef B3_USE_DOUBLE_PRECISION
+#define b3Vector3Data b3Vector3DoubleData
+#define b3Vector3DataName "b3Vector3DoubleData"
+#else
+#define b3Vector3Data b3Vector3FloatData
+#define b3Vector3DataName "b3Vector3FloatData"
+#endif //B3_USE_DOUBLE_PRECISION
+
+#if defined B3_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 B3_SHUFFLE(x,y,z,w) ((w)<<6 | (z)<<4 | (y)<<2 | (x))
+//#define b3_pshufd_ps( _a, _mask ) (__m128) _mm_shuffle_epi32((__m128i)(_a), (_mask) )
+#define b3_pshufd_ps( _a, _mask ) _mm_shuffle_ps((_a), (_a), (_mask) )
+#define b3_splat3_ps( _a, _i ) b3_pshufd_ps((_a), B3_SHUFFLE(_i,_i,_i, 3) )
+#define b3_splat_ps( _a, _i )  b3_pshufd_ps((_a), B3_SHUFFLE(_i,_i,_i,_i) )
+
+#define b3v3AbsiMask (_mm_set_epi32(0x00000000, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF))
+#define b3vAbsMask (_mm_set_epi32( 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF))
+#define b3vFFF0Mask (_mm_set_epi32(0x00000000, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF))
+#define b3v3AbsfMask b3CastiTo128f(b3v3AbsiMask)
+#define b3vFFF0fMask b3CastiTo128f(b3vFFF0Mask)
+#define b3vxyzMaskf b3vFFF0fMask
+#define b3vAbsfMask b3CastiTo128f(b3vAbsMask)
+
+
+
+const __m128 B3_ATTRIBUTE_ALIGNED16(b3vMzeroMask) = {-0.0f, -0.0f, -0.0f, -0.0f};
+const __m128 B3_ATTRIBUTE_ALIGNED16(b3v1110) = {1.0f, 1.0f, 1.0f, 0.0f};
+const __m128 B3_ATTRIBUTE_ALIGNED16(b3vHalf) = {0.5f, 0.5f, 0.5f, 0.5f};
+const __m128 B3_ATTRIBUTE_ALIGNED16(b3v1_5)  = {1.5f, 1.5f, 1.5f, 1.5f};
+
+#endif
+
+#ifdef B3_USE_NEON
+
+const float32x4_t B3_ATTRIBUTE_ALIGNED16(b3vMzeroMask) = (float32x4_t){-0.0f, -0.0f, -0.0f, -0.0f};
+const int32x4_t B3_ATTRIBUTE_ALIGNED16(b3vFFF0Mask) = (int32x4_t){0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF, 0x0};
+const int32x4_t B3_ATTRIBUTE_ALIGNED16(b3vAbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF};
+const int32x4_t B3_ATTRIBUTE_ALIGNED16(b3v3AbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x0};
+
+#endif
+
+class b3Vector3;
+class b3Vector4;
+
+#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+//#if defined (B3_USE_SSE) || defined (B3_USE_NEON)
+inline b3Vector3 b3MakeVector3( b3SimdFloat4 v);
+inline b3Vector4 b3MakeVector4( b3SimdFloat4 vec);
+#endif
+
+inline b3Vector3 b3MakeVector3(b3Scalar x,b3Scalar y,b3Scalar z);
+inline b3Vector3 b3MakeVector3(b3Scalar x,b3Scalar y,b3Scalar z, b3Scalar w);
+inline b3Vector4 b3MakeVector4(b3Scalar x,b3Scalar y,b3Scalar z,b3Scalar w);
+
+
+/**@brief b3Vector3 can be used to represent 3D points and vectors.
+ * It has an un-used w component to suit 16-byte alignment when b3Vector3 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
+ */
+B3_ATTRIBUTE_ALIGNED16(class) b3Vector3
+{
+public:
+#if defined (B3_USE_SSE) || defined(B3_USE_NEON) // _WIN32 || ARM
+        union {
+            b3SimdFloat4      mVec128;
+            float	m_floats[4];
+			struct {float x,y,z,w;};
+
+        };
+#else
+	union
+	{
+        	float	m_floats[4];
+			struct {float	x,y,z,w;};
+	};
+#endif
+
+
+public:
+
+	B3_DECLARE_ALIGNED_ALLOCATOR();
+
+#if defined (B3_USE_SSE) || defined(B3_USE_NEON) // _WIN32 || ARM
+
+	/*B3_FORCE_INLINE		b3Vector3()
+	{
+	}
+	*/
+
+    B3_FORCE_INLINE	b3SimdFloat4	get128() const
+    {
+        return mVec128;
+    }
+    B3_FORCE_INLINE	void	set128(b3SimdFloat4 v128)
+    {
+        mVec128 = v128;
+    }
+#endif
+
+	public:
+
+
+
+/**@brief Add a vector to this one
+ * @param The vector to add to this one */
+	B3_FORCE_INLINE b3Vector3& operator+=(const b3Vector3& v)
+	{
+#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+		mVec128 = _mm_add_ps(mVec128, v.mVec128);
+#elif defined(B3_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 */
+	B3_FORCE_INLINE b3Vector3& operator-=(const b3Vector3& v)
+	{
+#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+		mVec128 = _mm_sub_ps(mVec128, v.mVec128);
+#elif defined(B3_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 */
+	B3_FORCE_INLINE b3Vector3& operator*=(const b3Scalar& s)
+	{
+#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+		__m128	vs = _mm_load_ss(&s);	//	(S 0 0 0)
+		vs = b3_pshufd_ps(vs, 0x80);	//	(S S S 0.0)
+		mVec128 = _mm_mul_ps(mVec128, vs);
+#elif defined(B3_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 */
+	B3_FORCE_INLINE b3Vector3& operator/=(const b3Scalar& s)
+	{
+		b3FullAssert(s != b3Scalar(0.0));
+
+#if 0 //defined(B3_USE_SSE_IN_API)
+// this code is not faster !
+		__m128 vs = _mm_load_ss(&s);
+		vs = _mm_div_ss(b3v1110, vs);
+		vs = b3_pshufd_ps(vs, 0x00);	//	(S S S S)
+
+		mVec128 = _mm_mul_ps(mVec128, vs);
+
+		return *this;
+#else
+		return *this *= b3Scalar(1.0) / s;
+#endif
+	}
+
+  /**@brief Return the dot product
+   * @param v The other vector in the dot product */
+	B3_FORCE_INLINE b3Scalar dot(const b3Vector3& v) const
+	{
+#if defined(B3_USE_SSE_IN_API) && defined (B3_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(B3_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 */
+	B3_FORCE_INLINE b3Scalar length2() const
+	{
+		return dot(*this);
+	}
+
+  /**@brief Return the length of the vector */
+	B3_FORCE_INLINE b3Scalar length() const
+	{
+		return b3Sqrt(length2());
+	}
+
+  /**@brief Return the distance squared between the ends of this and another vector
+   * This is symantically treating the vector like a point */
+	B3_FORCE_INLINE b3Scalar distance2(const b3Vector3& v) const;
+
+  /**@brief Return the distance between the ends of this and another vector
+   * This is symantically treating the vector like a point */
+	B3_FORCE_INLINE b3Scalar distance(const b3Vector3& v) const;
+
+	B3_FORCE_INLINE b3Vector3& safeNormalize()
+	{
+		b3Scalar l2 = length2();
+		//triNormal.normalize();
+		if (l2 >= B3_EPSILON*B3_EPSILON)
+		{
+			(*this) /= b3Sqrt(l2);
+		}
+		else
+		{
+			setValue(1, 0, 0);
+		}
+		return *this;
+	}
+
+  /**@brief Normalize this vector
+   * x^2 + y^2 + z^2 = 1 */
+	B3_FORCE_INLINE b3Vector3& normalize()
+	{
+#if defined(B3_USE_SSE_IN_API) && defined (B3_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(b3v1110, vd);
+		vd = b3_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 = b3v1_5;
+        vd = _mm_mul_ss(vd, b3vHalf); // 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 = b3_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 */
+	B3_FORCE_INLINE b3Vector3 normalized() const;
+
+  /**@brief Return a rotated version of this vector
+   * @param wAxis The axis to rotate about
+   * @param angle The angle to rotate by */
+	B3_FORCE_INLINE b3Vector3 rotate( const b3Vector3& wAxis, const b3Scalar angle ) const;
+
+  /**@brief Return the angle between this and another vector
+   * @param v The other vector */
+	B3_FORCE_INLINE b3Scalar angle(const b3Vector3& v) const
+	{
+		b3Scalar s = b3Sqrt(length2() * v.length2());
+		b3FullAssert(s != b3Scalar(0.0));
+		return b3Acos(dot(v) / s);
+	}
+
+  /**@brief Return a vector will the absolute values of each element */
+	B3_FORCE_INLINE b3Vector3 absolute() const
+	{
+#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+		return b3MakeVector3(_mm_and_ps(mVec128, b3v3AbsfMask));
+#elif defined(B3_USE_NEON)
+		return b3Vector3(vabsq_f32(mVec128));
+#else
+		return b3MakeVector3(
+			b3Fabs(m_floats[0]),
+			b3Fabs(m_floats[1]),
+			b3Fabs(m_floats[2]));
+#endif
+	}
+
+  /**@brief Return the cross product between this and another vector
+   * @param v The other vector */
+	B3_FORCE_INLINE b3Vector3 cross(const b3Vector3& v) const
+	{
+#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+		__m128	T, V;
+
+		T = b3_pshufd_ps(mVec128, B3_SHUFFLE(1, 2, 0, 3));	//	(Y Z X 0)
+		V = b3_pshufd_ps(v.mVec128, B3_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 = b3_pshufd_ps(V, B3_SHUFFLE(1, 2, 0, 3));
+		return b3MakeVector3(V);
+#elif defined(B3_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, b3vFFF0Mask);
+
+		return b3Vector3(V);
+#else
+		return b3MakeVector3(
+			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
+	}
+
+	B3_FORCE_INLINE b3Scalar triple(const b3Vector3& v1, const b3Vector3& v2) const
+	{
+#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+		// cross:
+		__m128 T = _mm_shuffle_ps(v1.mVec128, v1.mVec128, B3_SHUFFLE(1, 2, 0, 3));	//	(Y Z X 0)
+		__m128 V = _mm_shuffle_ps(v2.mVec128, v2.mVec128, B3_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, B3_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(B3_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 */
+	B3_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 */
+	B3_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);
+	}
+
+	B3_FORCE_INLINE int furthestAxis() const
+	{
+		return absolute().minAxis();
+	}
+
+	B3_FORCE_INLINE int closestAxis() const
+	{
+		return absolute().maxAxis();
+	}
+
+
+	B3_FORCE_INLINE void setInterpolate3(const b3Vector3& v0, const b3Vector3& v1, b3Scalar rt)
+	{
+#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+		__m128	vrt = _mm_load_ss(&rt);	//	(rt 0 0 0)
+		b3Scalar s = b3Scalar(1.0) - rt;
+		__m128	vs = _mm_load_ss(&s);	//	(S 0 0 0)
+		vs = b3_pshufd_ps(vs, 0x80);	//	(S S S 0.0)
+		__m128 r0 = _mm_mul_ps(v0.mVec128, vs);
+		vrt = b3_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(B3_USE_NEON)
+		float32x4_t vl = vsubq_f32(v1.mVec128, v0.mVec128);
+		vl = vmulq_n_f32(vl, rt);
+		mVec128 = vaddq_f32(vl, v0.mVec128);
+#else
+		b3Scalar s = b3Scalar(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) */
+	B3_FORCE_INLINE b3Vector3 lerp(const b3Vector3& v, const b3Scalar& t) const
+	{
+#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+		__m128	vt = _mm_load_ss(&t);	//	(t 0 0 0)
+		vt = b3_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 b3MakeVector3(vl);
+#elif defined(B3_USE_NEON)
+		float32x4_t vl = vsubq_f32(v.mVec128, mVec128);
+		vl = vmulq_n_f32(vl, t);
+		vl = vaddq_f32(vl, mVec128);
+
+		return b3Vector3(vl);
+#else
+		return
+			b3MakeVector3(	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 */
+	B3_FORCE_INLINE b3Vector3& operator*=(const b3Vector3& v)
+	{
+#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+		mVec128 = _mm_mul_ps(mVec128, v.mVec128);
+#elif defined(B3_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 */
+		B3_FORCE_INLINE const b3Scalar& getX() const { return m_floats[0]; }
+  /**@brief Return the y value */
+		B3_FORCE_INLINE const b3Scalar& getY() const { return m_floats[1]; }
+  /**@brief Return the z value */
+		B3_FORCE_INLINE const b3Scalar& getZ() const { return m_floats[2]; }
+/**@brief Return the w value */
+		B3_FORCE_INLINE const b3Scalar& getW() const { return m_floats[3]; }
+
+  /**@brief Set the x value */
+		B3_FORCE_INLINE void	setX(b3Scalar _x) { m_floats[0] = _x;};
+  /**@brief Set the y value */
+		B3_FORCE_INLINE void	setY(b3Scalar _y) { m_floats[1] = _y;};
+  /**@brief Set the z value */
+		B3_FORCE_INLINE void	setZ(b3Scalar _z) { m_floats[2] = _z;};
+  /**@brief Set the w value */
+		B3_FORCE_INLINE void	setW(b3Scalar _w) { m_floats[3] = _w;};
+
+	//B3_FORCE_INLINE b3Scalar&       operator[](int i)       { return (&m_floats[0])[i];	}
+	//B3_FORCE_INLINE const b3Scalar& operator[](int i) const { return (&m_floats[0])[i]; }
+	///operator b3Scalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons.
+	B3_FORCE_INLINE	operator       b3Scalar *()       { return &m_floats[0]; }
+	B3_FORCE_INLINE	operator const b3Scalar *() const { return &m_floats[0]; }
+
+	B3_FORCE_INLINE	bool	operator==(const b3Vector3& other) const
+	{
+#if defined(B3_USE_SSE_IN_API) && defined (B3_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
+	}
+
+	B3_FORCE_INLINE	bool	operator!=(const b3Vector3& other) const
+	{
+		return !(*this == other);
+	}
+
+  /**@brief Set each element to the max of the current values and the values of another b3Vector3
+   * @param other The other b3Vector3 to compare with
+   */
+	B3_FORCE_INLINE void	setMax(const b3Vector3& other)
+	{
+#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+		mVec128 = _mm_max_ps(mVec128, other.mVec128);
+#elif defined(B3_USE_NEON)
+		mVec128 = vmaxq_f32(mVec128, other.mVec128);
+#else
+		b3SetMax(m_floats[0], other.m_floats[0]);
+		b3SetMax(m_floats[1], other.m_floats[1]);
+		b3SetMax(m_floats[2], other.m_floats[2]);
+		b3SetMax(m_floats[3], other.m_floats[3]);
+#endif
+	}
+
+  /**@brief Set each element to the min of the current values and the values of another b3Vector3
+   * @param other The other b3Vector3 to compare with
+   */
+	B3_FORCE_INLINE void	setMin(const b3Vector3& other)
+	{
+#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+		mVec128 = _mm_min_ps(mVec128, other.mVec128);
+#elif defined(B3_USE_NEON)
+		mVec128 = vminq_f32(mVec128, other.mVec128);
+#else
+		b3SetMin(m_floats[0], other.m_floats[0]);
+		b3SetMin(m_floats[1], other.m_floats[1]);
+		b3SetMin(m_floats[2], other.m_floats[2]);
+		b3SetMin(m_floats[3], other.m_floats[3]);
+#endif
+	}
+
+	B3_FORCE_INLINE void 	setValue(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z)
+	{
+		m_floats[0]=_x;
+		m_floats[1]=_y;
+		m_floats[2]=_z;
+		m_floats[3] = b3Scalar(0.f);
+	}
+
+	void	getSkewSymmetricMatrix(b3Vector3* v0,b3Vector3* v1,b3Vector3* v2) const
+	{
+#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+
+		__m128 V  = _mm_and_ps(mVec128, b3vFFF0fMask);
+		__m128 V0 = _mm_xor_ps(b3vMzeroMask, 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.		,-getZ()		,getY());
+		v1->setValue(getZ()	,0.			,-getX());
+		v2->setValue(-getY()	,getX()	,0.);
+#endif
+	}
+
+	void setZero()
+	{
+#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+		mVec128 = (__m128)_mm_xor_ps(mVec128, mVec128);
+#elif defined(B3_USE_NEON)
+		int32x4_t vi = vdupq_n_s32(0);
+		mVec128 = vreinterpretq_f32_s32(vi);
+#else
+		setValue(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
+#endif
+	}
+
+	B3_FORCE_INLINE bool isZero() const
+	{
+		return m_floats[0] == b3Scalar(0) && m_floats[1] == b3Scalar(0) && m_floats[2] == b3Scalar(0);
+	}
+
+	B3_FORCE_INLINE bool fuzzyZero() const
+	{
+		return length2() < B3_EPSILON;
+	}
+
+	B3_FORCE_INLINE	void	serialize(struct	b3Vector3Data& dataOut) const;
+
+	B3_FORCE_INLINE	void	deSerialize(const struct	b3Vector3Data& dataIn);
+
+	B3_FORCE_INLINE	void	serializeFloat(struct	b3Vector3FloatData& dataOut) const;
+
+	B3_FORCE_INLINE	void	deSerializeFloat(const struct	b3Vector3FloatData& dataIn);
+
+	B3_FORCE_INLINE	void	serializeDouble(struct	b3Vector3DoubleData& dataOut) const;
+
+	B3_FORCE_INLINE	void	deSerializeDouble(const struct	b3Vector3DoubleData& 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 */
+        B3_FORCE_INLINE   long    maxDot( const b3Vector3 *array, long array_count, b3Scalar &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 */
+        B3_FORCE_INLINE   long    minDot( const b3Vector3 *array, long array_count, b3Scalar &dotOut ) const;
+
+    /* create a vector as  b3Vector3( this->dot( b3Vector3 v0 ), this->dot( b3Vector3 v1), this->dot( b3Vector3 v2 ))  */
+    B3_FORCE_INLINE b3Vector3  dot3( const b3Vector3 &v0, const b3Vector3 &v1, const b3Vector3 &v2 ) const
+    {
+#if defined(B3_USE_SSE_IN_API) && defined (B3_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, b3vxyzMaskf);
+        r = _mm_add_ps( r, b3CastdTo128f (_mm_move_sd( b3CastfTo128d(a2), b3CastfTo128d(b1) )));
+        return b3MakeVector3(r);
+
+#elif defined(B3_USE_NEON)
+        static const uint32x4_t xyzMask = (const uint32x4_t){ -1, -1, -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 b3Vector3( vcombine_f32(b0, b1) );
+#else
+		return b3MakeVector3( dot(v0), dot(v1), dot(v2));
+#endif
+    }
+};
+
+/**@brief Return the sum of two vectors (Point symantics)*/
+B3_FORCE_INLINE b3Vector3
+operator+(const b3Vector3& v1, const b3Vector3& v2)
+{
+#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+	return b3MakeVector3(_mm_add_ps(v1.mVec128, v2.mVec128));
+#elif defined(B3_USE_NEON)
+	return b3MakeVector3(vaddq_f32(v1.mVec128, v2.mVec128));
+#else
+	return b3MakeVector3(
+			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 */
+B3_FORCE_INLINE b3Vector3
+operator*(const b3Vector3& v1, const b3Vector3& v2)
+{
+#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+	return b3MakeVector3(_mm_mul_ps(v1.mVec128, v2.mVec128));
+#elif defined(B3_USE_NEON)
+	return b3MakeVector3(vmulq_f32(v1.mVec128, v2.mVec128));
+#else
+	return b3MakeVector3(
+			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 */
+B3_FORCE_INLINE b3Vector3
+operator-(const b3Vector3& v1, const b3Vector3& v2)
+{
+#if (defined(B3_USE_SSE_IN_API)  && defined(B3_USE_SSE))
+
+	//	without _mm_and_ps this code causes slowdown in Concave moving
+	__m128 r = _mm_sub_ps(v1.mVec128, v2.mVec128);
+	return b3MakeVector3(_mm_and_ps(r, b3vFFF0fMask));
+#elif defined(B3_USE_NEON)
+	float32x4_t r = vsubq_f32(v1.mVec128, v2.mVec128);
+	return b3MakeVector3((float32x4_t)vandq_s32((int32x4_t)r, b3vFFF0Mask));
+#else
+	return b3MakeVector3(
+			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 */
+B3_FORCE_INLINE b3Vector3
+operator-(const b3Vector3& v)
+{
+#if (defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE))
+	__m128 r = _mm_xor_ps(v.mVec128, b3vMzeroMask);
+	return b3MakeVector3(_mm_and_ps(r, b3vFFF0fMask));
+#elif defined(B3_USE_NEON)
+	return b3MakeVector3((b3SimdFloat4)veorq_s32((int32x4_t)v.mVec128, (int32x4_t)b3vMzeroMask));
+#else
+	return b3MakeVector3(-v.m_floats[0], -v.m_floats[1], -v.m_floats[2]);
+#endif
+}
+
+/**@brief Return the vector scaled by s */
+B3_FORCE_INLINE b3Vector3
+operator*(const b3Vector3& v, const b3Scalar& s)
+{
+#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+	__m128	vs = _mm_load_ss(&s);	//	(S 0 0 0)
+	vs = b3_pshufd_ps(vs, 0x80);	//	(S S S 0.0)
+	return b3MakeVector3(_mm_mul_ps(v.mVec128, vs));
+#elif defined(B3_USE_NEON)
+	float32x4_t r = vmulq_n_f32(v.mVec128, s);
+	return b3MakeVector3((float32x4_t)vandq_s32((int32x4_t)r, b3vFFF0Mask));
+#else
+	return b3MakeVector3(v.m_floats[0] * s, v.m_floats[1] * s, v.m_floats[2] * s);
+#endif
+}
+
+/**@brief Return the vector scaled by s */
+B3_FORCE_INLINE b3Vector3
+operator*(const b3Scalar& s, const b3Vector3& v)
+{
+	return v * s;
+}
+
+/**@brief Return the vector inversely scaled by s */
+B3_FORCE_INLINE b3Vector3
+operator/(const b3Vector3& v, const b3Scalar& s)
+{
+	b3FullAssert(s != b3Scalar(0.0));
+#if 0 //defined(B3_USE_SSE_IN_API)
+// this code is not faster !
+	__m128 vs = _mm_load_ss(&s);
+    vs = _mm_div_ss(b3v1110, vs);
+	vs = b3_pshufd_ps(vs, 0x00);	//	(S S S S)
+
+	return b3Vector3(_mm_mul_ps(v.mVec128, vs));
+#else
+	return v * (b3Scalar(1.0) / s);
+#endif
+}
+
+/**@brief Return the vector inversely scaled by s */
+B3_FORCE_INLINE b3Vector3
+operator/(const b3Vector3& v1, const b3Vector3& v2)
+{
+#if (defined(B3_USE_SSE_IN_API)&& defined (B3_USE_SSE))
+	__m128 vec = _mm_div_ps(v1.mVec128, v2.mVec128);
+	vec = _mm_and_ps(vec, b3vFFF0fMask);
+	return b3MakeVector3(vec);
+#elif defined(B3_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 b3Vector3(v);
+#else
+	return b3MakeVector3(
+			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 */
+B3_FORCE_INLINE b3Scalar
+b3Dot(const b3Vector3& v1, const b3Vector3& v2)
+{
+	return v1.dot(v2);
+}
+
+
+/**@brief Return the distance squared between two vectors */
+B3_FORCE_INLINE b3Scalar
+b3Distance2(const b3Vector3& v1, const b3Vector3& v2)
+{
+	return v1.distance2(v2);
+}
+
+
+/**@brief Return the distance between two vectors */
+B3_FORCE_INLINE b3Scalar
+b3Distance(const b3Vector3& v1, const b3Vector3& v2)
+{
+	return v1.distance(v2);
+}
+
+/**@brief Return the angle between two vectors */
+B3_FORCE_INLINE b3Scalar
+b3Angle(const b3Vector3& v1, const b3Vector3& v2)
+{
+	return v1.angle(v2);
+}
+
+/**@brief Return the cross product of two vectors */
+B3_FORCE_INLINE b3Vector3
+b3Cross(const b3Vector3& v1, const b3Vector3& v2)
+{
+	return v1.cross(v2);
+}
+
+B3_FORCE_INLINE b3Scalar
+b3Triple(const b3Vector3& v1, const b3Vector3& v2, const b3Vector3& 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) */
+B3_FORCE_INLINE b3Vector3
+b3Lerp(const b3Vector3& v1, const b3Vector3& v2, const b3Scalar& t)
+{
+	return v1.lerp(v2, t);
+}
+
+
+
+B3_FORCE_INLINE b3Scalar b3Vector3::distance2(const b3Vector3& v) const
+{
+	return (v - *this).length2();
+}
+
+B3_FORCE_INLINE b3Scalar b3Vector3::distance(const b3Vector3& v) const
+{
+	return (v - *this).length();
+}
+
+B3_FORCE_INLINE b3Vector3 b3Vector3::normalized() const
+{
+#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+	b3Vector3 norm = *this;
+
+	return norm.normalize();
+#else
+	return *this / length();
+#endif
+}
+
+B3_FORCE_INLINE b3Vector3 b3Vector3::rotate( const b3Vector3& wAxis, const b3Scalar _angle ) const
+{
+	// wAxis must be a unit lenght vector
+
+#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+
+    __m128 O = _mm_mul_ps(wAxis.mVec128, mVec128);
+	b3Scalar ssin = b3Sin( _angle );
+    __m128 C = wAxis.cross( b3MakeVector3(mVec128) ).mVec128;
+	O = _mm_and_ps(O, b3vFFF0fMask);
+    b3Scalar scos = b3Cos( _angle );
+
+	__m128 vsin = _mm_load_ss(&ssin);	//	(S 0 0 0)
+    __m128 vcos = _mm_load_ss(&scos);	//	(S 0 0 0)
+
+	__m128 Y = b3_pshufd_ps(O, 0xC9);	//	(Y Z X 0)
+	__m128 Z = b3_pshufd_ps(O, 0xD2);	//	(Z X Y 0)
+	O = _mm_add_ps(O, Y);
+	vsin = b3_pshufd_ps(vsin, 0x80);	//	(S S S 0)
+	O = _mm_add_ps(O, Z);
+    vcos = b3_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 b3MakeVector3(O);
+#else
+	b3Vector3 o = wAxis * wAxis.dot( *this );
+	b3Vector3 _x = *this - o;
+	b3Vector3 _y;
+
+	_y = wAxis.cross( *this );
+
+	return ( o + _x * b3Cos( _angle ) + _y * b3Sin( _angle ) );
+#endif
+}
+
+B3_FORCE_INLINE   long    b3Vector3::maxDot( const b3Vector3 *array, long array_count, b3Scalar &dotOut ) const
+{
+#if defined (B3_USE_SSE) || defined (B3_USE_NEON)
+    #if defined _WIN32 || defined (B3_USE_SSE)
+        const long scalar_cutoff = 10;
+        long b3_maxdot_large( const float *array, const float *vec, unsigned long array_count, float *dotOut );
+    #elif defined B3_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 )
+#else
+
+#endif//B3_USE_SSE || B3_USE_NEON
+    {
+        b3Scalar maxDot = -B3_INFINITY;
+        int i = 0;
+        int ptIndex = -1;
+        for( i = 0; i < array_count; i++ )
+        {
+            b3Scalar dot = array[i].dot(*this);
+
+            if( dot > maxDot )
+            {
+                maxDot = dot;
+                ptIndex = i;
+            }
+        }
+
+		b3Assert(ptIndex>=0);
+        if (ptIndex<0)
+		{
+			ptIndex = 0;
+		}
+        dotOut = maxDot;
+        return ptIndex;
+    }
+#if defined (B3_USE_SSE) || defined (B3_USE_NEON)
+    return b3_maxdot_large( (float*) array, (float*) &m_floats[0], array_count, &dotOut );
+#endif
+}
+
+B3_FORCE_INLINE   long    b3Vector3::minDot( const b3Vector3 *array, long array_count, b3Scalar &dotOut ) const
+{
+#if defined (B3_USE_SSE) || defined (B3_USE_NEON)
+    #if defined B3_USE_SSE
+        const long scalar_cutoff = 10;
+        long b3_mindot_large( const float *array, const float *vec, unsigned long array_count, float *dotOut );
+    #elif defined B3_USE_NEON
+        const long scalar_cutoff = 4;
+        extern long (*b3_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//B3_USE_SSE || B3_USE_NEON
+    {
+        b3Scalar  minDot = B3_INFINITY;
+        int i = 0;
+        int ptIndex = -1;
+
+        for( i = 0; i < array_count; i++ )
+        {
+            b3Scalar dot = array[i].dot(*this);
+
+            if( dot < minDot )
+            {
+                minDot = dot;
+                ptIndex = i;
+            }
+        }
+
+        dotOut = minDot;
+
+        return ptIndex;
+    }
+#if defined (B3_USE_SSE) || defined (B3_USE_NEON)
+    return b3_mindot_large( (float*) array, (float*) &m_floats[0], array_count, &dotOut );
+#endif
+}
+
+
+class b3Vector4 : public b3Vector3
+{
+public:
+
+
+
+
+
+
+	B3_FORCE_INLINE b3Vector4 absolute4() const
+	{
+#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+		return b3MakeVector4(_mm_and_ps(mVec128, b3vAbsfMask));
+#elif defined(B3_USE_NEON)
+		return b3Vector4(vabsq_f32(mVec128));
+#else
+		return b3MakeVector4(
+			b3Fabs(m_floats[0]),
+			b3Fabs(m_floats[1]),
+			b3Fabs(m_floats[2]),
+			b3Fabs(m_floats[3]));
+#endif
+	}
+
+
+	b3Scalar	getW() const { return m_floats[3];}
+
+
+		B3_FORCE_INLINE int maxAxis4() const
+	{
+		int maxIndex = -1;
+		b3Scalar maxVal = b3Scalar(-B3_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;
+	}
+
+
+	B3_FORCE_INLINE int minAxis4() const
+	{
+		int minIndex = -1;
+		b3Scalar minVal = b3Scalar(B3_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;
+			minVal = m_floats[3];
+		}
+
+		return minIndex;
+	}
+
+
+	B3_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(b3Scalar *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
+   */
+		B3_FORCE_INLINE void	setValue(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z,const b3Scalar& _w)
+		{
+			m_floats[0]=_x;
+			m_floats[1]=_y;
+			m_floats[2]=_z;
+			m_floats[3]=_w;
+		}
+
+
+};
+
+
+///b3SwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
+B3_FORCE_INLINE void	b3SwapScalarEndian(const b3Scalar& sourceVal, b3Scalar& destVal)
+{
+	#ifdef B3_USE_DOUBLE_PRECISION
+	unsigned char* dest = (unsigned char*) &destVal;
+	unsigned char* src  = (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;
+	unsigned char* src  = (unsigned char*) &sourceVal;
+	dest[0] = src[3];
+    dest[1] = src[2];
+    dest[2] = src[1];
+    dest[3] = src[0];
+#endif //B3_USE_DOUBLE_PRECISION
+}
+///b3SwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
+B3_FORCE_INLINE void	b3SwapVector3Endian(const b3Vector3& sourceVec, b3Vector3& destVec)
+{
+	for (int i=0;i<4;i++)
+	{
+		b3SwapScalarEndian(sourceVec[i],destVec[i]);
+	}
+
+}
+
+///b3UnSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
+B3_FORCE_INLINE void	b3UnSwapVector3Endian(b3Vector3& vector)
+{
+
+	b3Vector3	swappedVec;
+	for (int i=0;i<4;i++)
+	{
+		b3SwapScalarEndian(vector[i],swappedVec[i]);
+	}
+	vector = swappedVec;
+}
+
+template <class T>
+B3_FORCE_INLINE void b3PlaneSpace1 (const T& n, T& p, T& q)
+{
+  if (b3Fabs(n[2]) > B3_SQRT12) {
+    // choose p in y-z plane
+    b3Scalar a = n[1]*n[1] + n[2]*n[2];
+    b3Scalar k = b3RecipSqrt (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
+    b3Scalar a = n[0]*n[0] + n[1]*n[1];
+    b3Scalar k = b3RecipSqrt (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	b3Vector3FloatData
+{
+	float	m_floats[4];
+};
+
+struct	b3Vector3DoubleData
+{
+	double	m_floats[4];
+
+};
+
+B3_FORCE_INLINE	void	b3Vector3::serializeFloat(struct	b3Vector3FloatData& 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]);
+}
+
+B3_FORCE_INLINE void	b3Vector3::deSerializeFloat(const struct	b3Vector3FloatData& dataIn)
+{
+	for (int i=0;i<4;i++)
+		m_floats[i] = b3Scalar(dataIn.m_floats[i]);
+}
+
+
+B3_FORCE_INLINE	void	b3Vector3::serializeDouble(struct	b3Vector3DoubleData& 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]);
+}
+
+B3_FORCE_INLINE void	b3Vector3::deSerializeDouble(const struct	b3Vector3DoubleData& dataIn)
+{
+	for (int i=0;i<4;i++)
+		m_floats[i] = b3Scalar(dataIn.m_floats[i]);
+}
+
+
+B3_FORCE_INLINE	void	b3Vector3::serialize(struct	b3Vector3Data& 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];
+}
+
+B3_FORCE_INLINE void	b3Vector3::deSerialize(const struct	b3Vector3Data& dataIn)
+{
+	for (int i=0;i<4;i++)
+		m_floats[i] = dataIn.m_floats[i];
+}
+
+
+
+
+inline b3Vector3 b3MakeVector3(b3Scalar x,b3Scalar y,b3Scalar z)
+{
+	b3Vector3	tmp;
+	tmp.setValue(x,y,z);
+	return tmp;
+}
+
+inline b3Vector3 b3MakeVector3(b3Scalar x,b3Scalar y,b3Scalar z, b3Scalar w)
+{
+	b3Vector3	tmp;
+	tmp.setValue(x,y,z);
+	tmp.w = w;
+	return tmp;
+}
+
+inline b3Vector4 b3MakeVector4(b3Scalar x,b3Scalar y,b3Scalar z,b3Scalar w)
+{
+	b3Vector4	tmp;
+	tmp.setValue(x,y,z,w);
+	return tmp;
+}
+
+#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+
+inline b3Vector3 b3MakeVector3( b3SimdFloat4 v)
+{
+        b3Vector3 tmp;
+        tmp.set128(v);
+        return tmp;
+}
+
+inline b3Vector4 b3MakeVector4(b3SimdFloat4 vec)
+{
+	b3Vector4	tmp;
+	tmp.set128(vec);
+	return tmp;
+}
+
+#endif
+
+
+#endif //B3_VECTOR3_H
diff --git a/thirdparty/bullet/src/Bullet3Common/premake4.lua b/thirdparty/bullet/src/Bullet3Common/premake4.lua
new file mode 100644
index 0000000000..1331c6327e
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/premake4.lua
@@ -0,0 +1,12 @@
+	project "Bullet3Common"
+
+	language "C++"
+				
+	kind "StaticLib"
+		
+	includedirs {".."}
+
+	files {
+		"*.cpp",
+		"*.h"
+	}
diff --git a/thirdparty/bullet/src/Bullet3Common/shared/b3Float4.h b/thirdparty/bullet/src/Bullet3Common/shared/b3Float4.h
new file mode 100644
index 0000000000..5e4b95bcee
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/shared/b3Float4.h
@@ -0,0 +1,97 @@
+#ifndef B3_FLOAT4_H
+#define B3_FLOAT4_H
+
+#include "Bullet3Common/shared/b3PlatformDefinitions.h"
+
+#ifdef __cplusplus
+	#include "Bullet3Common/b3Vector3.h"
+	#define b3Float4 b3Vector3
+	#define b3Float4ConstArg const b3Vector3&
+	#define b3Dot3F4 b3Dot
+	#define b3Cross3 b3Cross
+	#define	b3MakeFloat4  b3MakeVector3
+	inline b3Vector3 b3Normalized(const b3Vector3& vec)
+	{
+		return vec.normalized();
+	}
+
+	inline b3Float4 b3FastNormalized3(b3Float4ConstArg v)
+	{
+		return v.normalized();
+	}
+
+	inline b3Float4 b3MaxFloat4 (const b3Float4& a, const b3Float4& b)
+	{
+		b3Float4 tmp = a;
+		tmp.setMax(b);
+		return tmp;
+	}
+	inline b3Float4 b3MinFloat4 (const b3Float4& a, const b3Float4& b)
+	{
+		b3Float4 tmp = a;
+		tmp.setMin(b);
+		return tmp;
+	}
+
+
+
+#else
+	typedef float4	b3Float4;
+	#define b3Float4ConstArg const b3Float4
+	#define b3MakeFloat4 (float4)
+	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)
+	{
+		float4 a1 = b3MakeFloat4(v0.xyz,0.f);
+		float4 b1 = b3MakeFloat4(v1.xyz,0.f);
+		return dot(a1, b1);
+	}
+	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)
+	{
+		float4 a1 = b3MakeFloat4(v0.xyz,0.f);
+		float4 b1 = b3MakeFloat4(v1.xyz,0.f);
+		return cross(a1, b1);
+	}
+	#define b3MinFloat4 min
+	#define b3MaxFloat4 max
+
+	#define b3Normalized(a) normalize(a)
+
+#endif 
+
+
+		
+inline bool b3IsAlmostZero(b3Float4ConstArg v)
+{
+	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	
+		return false;
+	return true;
+}
+
+
+inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )
+{
+    float maxDot = -B3_INFINITY;
+    int i = 0;
+    int ptIndex = -1;
+    for( i = 0; i < vecLen; i++ )
+    {
+        float dot = b3Dot3F4(vecArray[i],vec);
+            
+        if( dot > maxDot )
+        {
+            maxDot = dot;
+            ptIndex = i;
+        }
+    }
+	b3Assert(ptIndex>=0);
+    if (ptIndex<0)
+	{
+		ptIndex = 0;
+	}
+    *dotOut = maxDot;
+    return ptIndex;
+}
+
+
+
+#endif //B3_FLOAT4_H
diff --git a/thirdparty/bullet/src/Bullet3Common/shared/b3Int2.h b/thirdparty/bullet/src/Bullet3Common/shared/b3Int2.h
new file mode 100644
index 0000000000..f1d01f81a5
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/shared/b3Int2.h
@@ -0,0 +1,64 @@
+/*
+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.
+*/
+
+#ifndef B3_INT2_H
+#define B3_INT2_H
+
+#ifdef __cplusplus
+
+struct b3UnsignedInt2
+{
+	union
+	{
+		struct
+		{
+			unsigned int x,y;
+		};
+		struct
+		{
+			unsigned int s[2];
+		};
+	};
+};
+
+struct b3Int2
+{
+	union
+	{
+		struct
+		{
+			int x,y;
+		};
+		struct
+		{
+			int s[2];
+		};
+	};
+};
+
+inline b3Int2 b3MakeInt2(int x, int y)
+{
+	b3Int2 v;
+	v.s[0] = x; v.s[1] = y;
+	return v;
+}
+#else
+
+#define b3UnsignedInt2 uint2
+#define b3Int2 int2
+#define b3MakeInt2 (int2)
+
+#endif //__cplusplus
+#endif
\ No newline at end of file
diff --git a/thirdparty/bullet/src/Bullet3Common/shared/b3Int4.h b/thirdparty/bullet/src/Bullet3Common/shared/b3Int4.h
new file mode 100644
index 0000000000..aa02d6beef
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/shared/b3Int4.h
@@ -0,0 +1,68 @@
+#ifndef B3_INT4_H
+#define B3_INT4_H
+
+#ifdef __cplusplus
+
+#include "Bullet3Common/b3Scalar.h"
+
+
+B3_ATTRIBUTE_ALIGNED16(struct) b3UnsignedInt4
+{
+	B3_DECLARE_ALIGNED_ALLOCATOR();
+
+	union
+	{
+		struct
+		{
+			unsigned int x,y,z,w;
+		};
+		struct
+		{
+			unsigned int s[4];
+		};
+	};
+};
+
+B3_ATTRIBUTE_ALIGNED16(struct) b3Int4
+{
+	B3_DECLARE_ALIGNED_ALLOCATOR();
+
+	union
+	{
+		struct
+		{
+			int x,y,z,w;
+		};
+		struct
+		{
+			int s[4];
+		};
+	};
+};
+
+B3_FORCE_INLINE b3Int4 b3MakeInt4(int x, int y, int z, int w = 0)
+{
+	b3Int4 v;
+	v.s[0] = x; v.s[1] = y; v.s[2] = z; v.s[3] = w;
+	return v;
+}
+
+B3_FORCE_INLINE b3UnsignedInt4 b3MakeUnsignedInt4(unsigned int x, unsigned int y, unsigned int z, unsigned int w = 0)
+{
+	b3UnsignedInt4 v;
+	v.s[0] = x; v.s[1] = y; v.s[2] = z; v.s[3] = w;
+	return v;
+}
+
+#else
+
+
+#define b3UnsignedInt4 uint4
+#define b3Int4 int4
+#define b3MakeInt4 (int4)
+#define b3MakeUnsignedInt4 (uint4)
+
+
+#endif //__cplusplus
+
+#endif //B3_INT4_H
diff --git a/thirdparty/bullet/src/Bullet3Common/shared/b3Mat3x3.h b/thirdparty/bullet/src/Bullet3Common/shared/b3Mat3x3.h
new file mode 100644
index 0000000000..7b1fef32f8
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/shared/b3Mat3x3.h
@@ -0,0 +1,179 @@
+
+#ifndef B3_MAT3x3_H
+#define B3_MAT3x3_H
+
+#include "Bullet3Common/shared/b3Quat.h"
+
+
+#ifdef __cplusplus
+
+#include "Bullet3Common/b3Matrix3x3.h"
+
+#define b3Mat3x3 b3Matrix3x3
+#define b3Mat3x3ConstArg const b3Matrix3x3&
+
+inline b3Mat3x3 b3QuatGetRotationMatrix(b3QuatConstArg quat)
+{
+	return b3Mat3x3(quat);
+}
+
+inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg mat)
+{
+	return mat.absolute();
+}
+
+#define b3GetRow(m,row) m.getRow(row)
+
+__inline
+b3Float4 mtMul3(b3Float4ConstArg a, b3Mat3x3ConstArg b)
+{
+	return b*a;
+}
+
+
+#else
+
+typedef struct
+{
+	b3Float4 m_row[3];
+}b3Mat3x3;
+
+#define b3Mat3x3ConstArg const b3Mat3x3
+#define b3GetRow(m,row) (m.m_row[row])
+
+inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)
+{
+	b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);
+	b3Mat3x3 out;
+
+	out.m_row[0].x=1-2*quat2.y-2*quat2.z;
+	out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;
+	out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;
+	out.m_row[0].w = 0.f;
+
+	out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;
+	out.m_row[1].y=1-2*quat2.x-2*quat2.z;
+	out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;
+	out.m_row[1].w = 0.f;
+
+	out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;
+	out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;
+	out.m_row[2].z=1-2*quat2.x-2*quat2.y;
+	out.m_row[2].w = 0.f;
+
+	return out;
+}
+
+inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)
+{
+	b3Mat3x3 out;
+	out.m_row[0] = fabs(matIn.m_row[0]);
+	out.m_row[1] = fabs(matIn.m_row[1]);
+	out.m_row[2] = fabs(matIn.m_row[2]);
+	return out;
+}
+
+
+__inline
+b3Mat3x3 mtZero();
+
+__inline
+b3Mat3x3 mtIdentity();
+
+__inline
+b3Mat3x3 mtTranspose(b3Mat3x3 m);
+
+__inline
+b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);
+
+__inline
+b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);
+
+__inline
+b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);
+
+__inline
+b3Mat3x3 mtZero()
+{
+	b3Mat3x3 m;
+	m.m_row[0] = (b3Float4)(0.f);
+	m.m_row[1] = (b3Float4)(0.f);
+	m.m_row[2] = (b3Float4)(0.f);
+	return m;
+}
+
+__inline
+b3Mat3x3 mtIdentity()
+{
+	b3Mat3x3 m;
+	m.m_row[0] = (b3Float4)(1,0,0,0);
+	m.m_row[1] = (b3Float4)(0,1,0,0);
+	m.m_row[2] = (b3Float4)(0,0,1,0);
+	return m;
+}
+
+__inline
+b3Mat3x3 mtTranspose(b3Mat3x3 m)
+{
+	b3Mat3x3 out;
+	out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);
+	out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);
+	out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);
+	return out;
+}
+
+__inline
+b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)
+{
+	b3Mat3x3 transB;
+	transB = mtTranspose( b );
+	b3Mat3x3 ans;
+	//	why this doesn't run when 0ing in the for{}
+	a.m_row[0].w = 0.f;
+	a.m_row[1].w = 0.f;
+	a.m_row[2].w = 0.f;
+	for(int i=0; i<3; i++)
+	{
+//	a.m_row[i].w = 0.f;
+		ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);
+		ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);
+		ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);
+		ans.m_row[i].w = 0.f;
+	}
+	return ans;
+}
+
+__inline
+b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)
+{
+	b3Float4 ans;
+	ans.x = b3Dot3F4( a.m_row[0], b );
+	ans.y = b3Dot3F4( a.m_row[1], b );
+	ans.z = b3Dot3F4( a.m_row[2], b );
+	ans.w = 0.f;
+	return ans;
+}
+
+__inline
+b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)
+{
+	b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);
+	b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);
+	b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);
+
+	b3Float4 ans;
+	ans.x = b3Dot3F4( a, colx );
+	ans.y = b3Dot3F4( a, coly );
+	ans.z = b3Dot3F4( a, colz );
+	return ans;
+}
+
+
+#endif
+
+
+
+
+
+
+#endif //B3_MAT3x3_H
diff --git a/thirdparty/bullet/src/Bullet3Common/shared/b3PlatformDefinitions.h b/thirdparty/bullet/src/Bullet3Common/shared/b3PlatformDefinitions.h
new file mode 100644
index 0000000000..1c133fb088
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/shared/b3PlatformDefinitions.h
@@ -0,0 +1,41 @@
+#ifndef B3_PLATFORM_DEFINITIONS_H
+#define B3_PLATFORM_DEFINITIONS_H
+
+struct MyTest
+{
+	int bla;
+};
+
+#ifdef __cplusplus
+//#define b3ConstArray(a) const b3AlignedObjectArray<a>&
+#define b3ConstArray(a) const a*
+#define b3AtomicInc(a) ((*a)++)
+
+inline int b3AtomicAdd (volatile int *p, int val)
+{
+	int oldValue = *p;
+	int newValue = oldValue+val;
+	*p = newValue;
+	return oldValue;
+}
+
+#define __global 
+
+#define B3_STATIC static
+#else
+//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX
+#define B3_LARGE_FLOAT 1e18f
+#define B3_INFINITY 1e18f
+#define b3Assert(a)
+#define b3ConstArray(a) __global const a*
+#define b3AtomicInc atomic_inc
+#define b3AtomicAdd atomic_add
+#define b3Fabs fabs
+#define b3Sqrt native_sqrt
+#define b3Sin native_sin
+#define b3Cos native_cos
+
+#define B3_STATIC
+#endif
+
+#endif
diff --git a/thirdparty/bullet/src/Bullet3Common/shared/b3Quat.h b/thirdparty/bullet/src/Bullet3Common/shared/b3Quat.h
new file mode 100644
index 0000000000..f262d5e08f
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Common/shared/b3Quat.h
@@ -0,0 +1,103 @@
+#ifndef B3_QUAT_H
+#define B3_QUAT_H
+
+#include "Bullet3Common/shared/b3PlatformDefinitions.h"
+#include "Bullet3Common/shared/b3Float4.h"
+
+#ifdef __cplusplus
+	#include "Bullet3Common/b3Quaternion.h"
+	#include "Bullet3Common/b3Transform.h"
+
+	#define b3Quat b3Quaternion
+	#define b3QuatConstArg const b3Quaternion&
+	inline b3Quat b3QuatInverse(b3QuatConstArg orn)
+	{
+		return orn.inverse();
+	}
+
+	inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)
+	{
+		b3Transform tr;
+		tr.setOrigin(translation);
+		tr.setRotation(orientation);
+		return tr(point);
+	}
+
+#else
+	typedef float4	b3Quat;
+	#define b3QuatConstArg const b3Quat
+	
+	
+inline float4 b3FastNormalize4(float4 v)
+{
+	v = (float4)(v.xyz,0.f);
+	return fast_normalize(v);
+}
+	
+inline b3Quat b3QuatMul(b3Quat a, b3Quat b);
+inline b3Quat b3QuatNormalized(b3QuatConstArg in);
+inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);
+inline b3Quat b3QuatInvert(b3QuatConstArg q);
+inline b3Quat b3QuatInverse(b3QuatConstArg q);
+
+inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)
+{
+	b3Quat ans;
+	ans = b3Cross3( a, b );
+	ans += a.w*b+b.w*a;
+//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
+	ans.w = a.w*b.w - b3Dot3F4(a, b);
+	return ans;
+}
+
+inline b3Quat b3QuatNormalized(b3QuatConstArg in)
+{
+	b3Quat q;
+	q=in;
+	//return b3FastNormalize4(in);
+	float len = native_sqrt(dot(q, q));
+	if(len > 0.f)
+	{
+		q *= 1.f / len;
+	}
+	else
+	{
+		q.x = q.y = q.z = 0.f;
+		q.w = 1.f;
+	}
+	return q;
+}
+inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)
+{
+	b3Quat qInv = b3QuatInvert( q );
+	float4 vcpy = vec;
+	vcpy.w = 0.f;
+	float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);
+	return out;
+}
+
+
+
+inline b3Quat b3QuatInverse(b3QuatConstArg q)
+{
+	return (b3Quat)(-q.xyz, q.w);
+}
+
+inline b3Quat b3QuatInvert(b3QuatConstArg q)
+{
+	return (b3Quat)(-q.xyz, q.w);
+}
+
+inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)
+{
+	return b3QuatRotate( b3QuatInvert( q ), vec );
+}
+
+inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)
+{
+	return b3QuatRotate( orientation, point ) + (translation);
+}
+	
+#endif 
+
+#endif //B3_QUAT_H