bullet: Streamline bundling, remove extraneous src/ folder

Document version and how to extract sources in thirdparty/README.md.
Drop unnecessary CMake and Premake files.
Simplify SCsub, drop unused one.

1 files changed, 0 insertions, 1219 deletions

diff --git a/thirdparty/bullet/src/BulletSoftBody/btSoftBodyHelpers.cpp b/thirdparty/bullet/src/BulletSoftBody/btSoftBodyHelpers.cpp
deleted file mode 100644
index 51fcd16da4..0000000000
--- a/thirdparty/bullet/src/BulletSoftBody/btSoftBodyHelpers.cpp
+++ /dev/null
@@ -1,1219 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-///btSoftBodyHelpers.cpp by Nathanael Presson
-
-#include "btSoftBodyInternals.h"
-#include <stdio.h>
-#include <string.h>
-#include "btSoftBodyHelpers.h"
-#include "LinearMath/btConvexHull.h"
-#include "LinearMath/btConvexHullComputer.h"
-
-
-//
-static void				drawVertex(	btIDebugDraw* idraw,
-								   const btVector3& x,btScalar s,const btVector3& c)
-{
-	idraw->drawLine(x-btVector3(s,0,0),x+btVector3(s,0,0),c);
-	idraw->drawLine(x-btVector3(0,s,0),x+btVector3(0,s,0),c);
-	idraw->drawLine(x-btVector3(0,0,s),x+btVector3(0,0,s),c);
-}
-
-//
-static void				drawBox(	btIDebugDraw* idraw,
-								const btVector3& mins,
-								const btVector3& maxs,
-								const btVector3& color)
-{
-	const btVector3	c[]={	btVector3(mins.x(),mins.y(),mins.z()),
-		btVector3(maxs.x(),mins.y(),mins.z()),
-		btVector3(maxs.x(),maxs.y(),mins.z()),
-		btVector3(mins.x(),maxs.y(),mins.z()),
-		btVector3(mins.x(),mins.y(),maxs.z()),
-		btVector3(maxs.x(),mins.y(),maxs.z()),
-		btVector3(maxs.x(),maxs.y(),maxs.z()),
-		btVector3(mins.x(),maxs.y(),maxs.z())};
-	idraw->drawLine(c[0],c[1],color);idraw->drawLine(c[1],c[2],color);
-	idraw->drawLine(c[2],c[3],color);idraw->drawLine(c[3],c[0],color);
-	idraw->drawLine(c[4],c[5],color);idraw->drawLine(c[5],c[6],color);
-	idraw->drawLine(c[6],c[7],color);idraw->drawLine(c[7],c[4],color);
-	idraw->drawLine(c[0],c[4],color);idraw->drawLine(c[1],c[5],color);
-	idraw->drawLine(c[2],c[6],color);idraw->drawLine(c[3],c[7],color);
-}
-
-//
-static void				drawTree(	btIDebugDraw* idraw,
-								 const btDbvtNode* node,
-								 int depth,
-								 const btVector3& ncolor,
-								 const btVector3& lcolor,
-								 int mindepth,
-								 int maxdepth)
-{
-	if(node)
-	{
-		if(node->isinternal()&&((depth<maxdepth)||(maxdepth<0)))
-		{
-			drawTree(idraw,node->childs[0],depth+1,ncolor,lcolor,mindepth,maxdepth);
-			drawTree(idraw,node->childs[1],depth+1,ncolor,lcolor,mindepth,maxdepth);
-		}
-		if(depth>=mindepth)
-		{
-			const btScalar	scl=(btScalar)(node->isinternal()?1:1);
-			const btVector3	mi=node->volume.Center()-node->volume.Extents()*scl;
-			const btVector3	mx=node->volume.Center()+node->volume.Extents()*scl;
-			drawBox(idraw,mi,mx,node->isleaf()?lcolor:ncolor);
-		}
-	}
-}
-
-//
-template <typename T>
-static inline T				sum(const btAlignedObjectArray<T>& items)
-{
-	T	v;
-	if(items.size())
-	{
-		v=items[0];
-		for(int i=1,ni=items.size();i<ni;++i)
-		{
-			v+=items[i];
-		}
-	}
-	return(v);
-}
-
-//
-template <typename T,typename Q>
-static inline void			add(btAlignedObjectArray<T>& items,const Q& value)
-{
-	for(int i=0,ni=items.size();i<ni;++i)
-	{
-		items[i]+=value;
-	}
-}
-
-//
-template <typename T,typename Q>
-static inline void			mul(btAlignedObjectArray<T>& items,const Q& value)
-{
-	for(int i=0,ni=items.size();i<ni;++i)
-	{
-		items[i]*=value;
-	}
-}
-
-//
-template <typename T>
-static inline T				average(const btAlignedObjectArray<T>& items)
-{
-	const btScalar	n=(btScalar)(items.size()>0?items.size():1);
-	return(sum(items)/n);
-}
-
-#if 0
-//
- inline static btScalar		tetravolume(const btVector3& x0,
-										const btVector3& x1,
-										const btVector3& x2,
-										const btVector3& x3)
-{
-	const btVector3	a=x1-x0;
-	const btVector3	b=x2-x0;
-	const btVector3	c=x3-x0;
-	return(btDot(a,btCross(b,c)));
-}
-#endif
-
-//
-#if 0
-static btVector3		stresscolor(btScalar stress)
-{
-	static const btVector3	spectrum[]=	{	btVector3(1,0,1),
-		btVector3(0,0,1),
-		btVector3(0,1,1),
-		btVector3(0,1,0),
-		btVector3(1,1,0),
-		btVector3(1,0,0),
-		btVector3(1,0,0)};
-	static const int		ncolors=sizeof(spectrum)/sizeof(spectrum[0])-1;
-	static const btScalar	one=1;
-	stress=btMax<btScalar>(0,btMin<btScalar>(1,stress))*ncolors;
-	const int				sel=(int)stress;
-	const btScalar			frc=stress-sel;
-	return(spectrum[sel]+(spectrum[sel+1]-spectrum[sel])*frc);
-}
-#endif
-
-//
-void			btSoftBodyHelpers::Draw(	btSoftBody* psb,
-										btIDebugDraw* idraw,
-										int drawflags)
-{
-	const btScalar		scl=(btScalar)0.1;
-	const btScalar		nscl=scl*5;
-	const btVector3		lcolor=btVector3(0,0,0);
-	const btVector3		ncolor=btVector3(1,1,1);
-	const btVector3		ccolor=btVector3(1,0,0);
-	int i,j,nj;
-
-		/* Clusters	*/ 
-	if(0!=(drawflags&fDrawFlags::Clusters))
-	{
-		srand(1806);
-		for(i=0;i<psb->m_clusters.size();++i)
-		{
-			if(psb->m_clusters[i]->m_collide)
-			{
-				btVector3						color(	rand()/(btScalar)RAND_MAX,
-					rand()/(btScalar)RAND_MAX,
-					rand()/(btScalar)RAND_MAX);
-				color=color.normalized()*0.75;
-				btAlignedObjectArray<btVector3>	vertices;
-				vertices.resize(psb->m_clusters[i]->m_nodes.size());
-				for(j=0,nj=vertices.size();j<nj;++j)
-				{				
-					vertices[j]=psb->m_clusters[i]->m_nodes[j]->m_x;
-				}
-#define USE_NEW_CONVEX_HULL_COMPUTER
-#ifdef USE_NEW_CONVEX_HULL_COMPUTER
-				btConvexHullComputer	computer;
-				int stride = sizeof(btVector3);
-				int count = vertices.size();
-				btScalar shrink=0.f;
-				btScalar shrinkClamp=0.f;
-				computer.compute(&vertices[0].getX(),stride,count,shrink,shrinkClamp);
-				for (int i=0;i<computer.faces.size();i++)
-				{
-
-					int face = computer.faces[i];
-					//printf("face=%d\n",face);
-					const btConvexHullComputer::Edge*  firstEdge = &computer.edges[face];
-					const btConvexHullComputer::Edge*  edge = firstEdge->getNextEdgeOfFace();
-
-					int v0 = firstEdge->getSourceVertex();
-					int v1 = firstEdge->getTargetVertex();
-					while (edge!=firstEdge)
-					{
-						int v2 = edge->getTargetVertex();
-						idraw->drawTriangle(computer.vertices[v0],computer.vertices[v1],computer.vertices[v2],color,1);
-						edge = edge->getNextEdgeOfFace();
-						v0=v1;
-						v1=v2;
-					};
-				}
-#else
-
-				HullDesc		hdsc(QF_TRIANGLES,vertices.size(),&vertices[0]);
-				HullResult		hres;
-				HullLibrary		hlib;
-				hdsc.mMaxVertices=vertices.size();
-				hlib.CreateConvexHull(hdsc,hres);
-				const btVector3	center=average(hres.m_OutputVertices);
-				add(hres.m_OutputVertices,-center);
-				mul(hres.m_OutputVertices,(btScalar)1);
-				add(hres.m_OutputVertices,center);
-				for(j=0;j<(int)hres.mNumFaces;++j)
-				{
-					const int idx[]={hres.m_Indices[j*3+0],hres.m_Indices[j*3+1],hres.m_Indices[j*3+2]};
-					idraw->drawTriangle(hres.m_OutputVertices[idx[0]],
-						hres.m_OutputVertices[idx[1]],
-						hres.m_OutputVertices[idx[2]],
-						color,1);
-				}
-				hlib.ReleaseResult(hres);
-#endif
-
-			}
-			/* Velocities	*/ 
-#if 0
-			for(int j=0;j<psb->m_clusters[i].m_nodes.size();++j)
-			{
-				const btSoftBody::Cluster&	c=psb->m_clusters[i];
-				const btVector3				r=c.m_nodes[j]->m_x-c.m_com;
-				const btVector3				v=c.m_lv+btCross(c.m_av,r);
-				idraw->drawLine(c.m_nodes[j]->m_x,c.m_nodes[j]->m_x+v,btVector3(1,0,0));
-			}
-#endif
-			/* Frame		*/ 
-	//		btSoftBody::Cluster& c=*psb->m_clusters[i];
-	//		idraw->drawLine(c.m_com,c.m_framexform*btVector3(10,0,0),btVector3(1,0,0));
-	//		idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,10,0),btVector3(0,1,0));
-	//		idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,0,10),btVector3(0,0,1));
-		}
-	}
-	else
-	{
-		/* Nodes	*/ 
-		if(0!=(drawflags&fDrawFlags::Nodes))
-		{
-			for(i=0;i<psb->m_nodes.size();++i)
-			{
-				const btSoftBody::Node&	n=psb->m_nodes[i];
-				if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
-				idraw->drawLine(n.m_x-btVector3(scl,0,0),n.m_x+btVector3(scl,0,0),btVector3(1,0,0));
-				idraw->drawLine(n.m_x-btVector3(0,scl,0),n.m_x+btVector3(0,scl,0),btVector3(0,1,0));
-				idraw->drawLine(n.m_x-btVector3(0,0,scl),n.m_x+btVector3(0,0,scl),btVector3(0,0,1));
-			}
-		}
-		/* Links	*/ 
-		if(0!=(drawflags&fDrawFlags::Links))
-		{
-			for(i=0;i<psb->m_links.size();++i)
-			{
-				const btSoftBody::Link&	l=psb->m_links[i];
-				if(0==(l.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
-				idraw->drawLine(l.m_n[0]->m_x,l.m_n[1]->m_x,lcolor);
-			}
-		}
-		/* Normals	*/ 
-		if(0!=(drawflags&fDrawFlags::Normals))
-		{
-			for(i=0;i<psb->m_nodes.size();++i)
-			{
-				const btSoftBody::Node&	n=psb->m_nodes[i];
-				if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
-				const btVector3			d=n.m_n*nscl;
-				idraw->drawLine(n.m_x,n.m_x+d,ncolor);
-				idraw->drawLine(n.m_x,n.m_x-d,ncolor*0.5);
-			}
-		}
-		/* Contacts	*/ 
-		if(0!=(drawflags&fDrawFlags::Contacts))
-		{
-			static const btVector3		axis[]={btVector3(1,0,0),
-				btVector3(0,1,0),
-				btVector3(0,0,1)};
-			for(i=0;i<psb->m_rcontacts.size();++i)
-			{		
-				const btSoftBody::RContact&	c=psb->m_rcontacts[i];
-				const btVector3				o=	c.m_node->m_x-c.m_cti.m_normal*
-					(btDot(c.m_node->m_x,c.m_cti.m_normal)+c.m_cti.m_offset);
-				const btVector3				x=btCross(c.m_cti.m_normal,axis[c.m_cti.m_normal.minAxis()]).normalized();
-				const btVector3				y=btCross(x,c.m_cti.m_normal).normalized();
-				idraw->drawLine(o-x*nscl,o+x*nscl,ccolor);
-				idraw->drawLine(o-y*nscl,o+y*nscl,ccolor);
-				idraw->drawLine(o,o+c.m_cti.m_normal*nscl*3,btVector3(1,1,0));
-			}
-		}
-		/* Faces	*/ 
-	if(0!=(drawflags&fDrawFlags::Faces))
-	{
-		const btScalar	scl=(btScalar)0.8;
-		const btScalar	alp=(btScalar)1;
-		const btVector3	col(0,(btScalar)0.7,0);
-		for(i=0;i<psb->m_faces.size();++i)
-		{
-			const btSoftBody::Face&	f=psb->m_faces[i];
-			if(0==(f.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
-			const btVector3			x[]={f.m_n[0]->m_x,f.m_n[1]->m_x,f.m_n[2]->m_x};
-			const btVector3			c=(x[0]+x[1]+x[2])/3;
-			idraw->drawTriangle((x[0]-c)*scl+c,
-				(x[1]-c)*scl+c,
-				(x[2]-c)*scl+c,
-				col,alp);
-		}	
-	}
-	/* Tetras	*/ 
-	if(0!=(drawflags&fDrawFlags::Tetras))
-	{
-		const btScalar	scl=(btScalar)0.8;
-		const btScalar	alp=(btScalar)1;
-		const btVector3	col((btScalar)0.3,(btScalar)0.3,(btScalar)0.7);
-		for(int i=0;i<psb->m_tetras.size();++i)
-		{
-			const btSoftBody::Tetra&	t=psb->m_tetras[i];
-			if(0==(t.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
-			const btVector3				x[]={t.m_n[0]->m_x,t.m_n[1]->m_x,t.m_n[2]->m_x,t.m_n[3]->m_x};
-			const btVector3				c=(x[0]+x[1]+x[2]+x[3])/4;
-			idraw->drawTriangle((x[0]-c)*scl+c,(x[1]-c)*scl+c,(x[2]-c)*scl+c,col,alp);
-			idraw->drawTriangle((x[0]-c)*scl+c,(x[1]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
-			idraw->drawTriangle((x[1]-c)*scl+c,(x[2]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
-			idraw->drawTriangle((x[2]-c)*scl+c,(x[0]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
-		}	
-	}
-	}
-	/* Anchors	*/ 
-	if(0!=(drawflags&fDrawFlags::Anchors))
-	{
-		for(i=0;i<psb->m_anchors.size();++i)
-		{
-			const btSoftBody::Anchor&	a=psb->m_anchors[i];
-			const btVector3				q=a.m_body->getWorldTransform()*a.m_local;
-			drawVertex(idraw,a.m_node->m_x,0.25,btVector3(1,0,0));
-			drawVertex(idraw,q,0.25,btVector3(0,1,0));
-			idraw->drawLine(a.m_node->m_x,q,btVector3(1,1,1));
-		}
-		for(i=0;i<psb->m_nodes.size();++i)
-		{
-			const btSoftBody::Node&	n=psb->m_nodes[i];		
-			if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
-			if(n.m_im<=0)
-			{
-				drawVertex(idraw,n.m_x,0.25,btVector3(1,0,0));
-			}
-		}
-	}
-	
-
-	/* Notes	*/ 
-	if(0!=(drawflags&fDrawFlags::Notes))
-	{
-		for(i=0;i<psb->m_notes.size();++i)
-		{
-			const btSoftBody::Note&	n=psb->m_notes[i];
-			btVector3				p=n.m_offset;
-			for(int j=0;j<n.m_rank;++j)
-			{
-				p+=n.m_nodes[j]->m_x*n.m_coords[j];
-			}
-			idraw->draw3dText(p,n.m_text);
-		}
-	}
-	/* Node tree	*/ 
-	if(0!=(drawflags&fDrawFlags::NodeTree))		DrawNodeTree(psb,idraw);
-	/* Face tree	*/ 
-	if(0!=(drawflags&fDrawFlags::FaceTree))		DrawFaceTree(psb,idraw);
-	/* Cluster tree	*/ 
-	if(0!=(drawflags&fDrawFlags::ClusterTree))	DrawClusterTree(psb,idraw);
-	/* Joints		*/ 
-	if(0!=(drawflags&fDrawFlags::Joints))
-	{
-		for(i=0;i<psb->m_joints.size();++i)
-		{
-			const btSoftBody::Joint*	pj=psb->m_joints[i];
-			switch(pj->Type())
-			{
-			case	btSoftBody::Joint::eType::Linear:
-				{
-					const btSoftBody::LJoint*	pjl=(const btSoftBody::LJoint*)pj;
-					const btVector3	a0=pj->m_bodies[0].xform()*pjl->m_refs[0];
-					const btVector3	a1=pj->m_bodies[1].xform()*pjl->m_refs[1];
-					idraw->drawLine(pj->m_bodies[0].xform().getOrigin(),a0,btVector3(1,1,0));
-					idraw->drawLine(pj->m_bodies[1].xform().getOrigin(),a1,btVector3(0,1,1));
-					drawVertex(idraw,a0,0.25,btVector3(1,1,0));
-					drawVertex(idraw,a1,0.25,btVector3(0,1,1));
-				}
-				break;
-			case	btSoftBody::Joint::eType::Angular:
-				{
-					//const btSoftBody::AJoint*	pja=(const btSoftBody::AJoint*)pj;
-					const btVector3	o0=pj->m_bodies[0].xform().getOrigin();
-					const btVector3	o1=pj->m_bodies[1].xform().getOrigin();
-					const btVector3	a0=pj->m_bodies[0].xform().getBasis()*pj->m_refs[0];
-					const btVector3	a1=pj->m_bodies[1].xform().getBasis()*pj->m_refs[1];
-					idraw->drawLine(o0,o0+a0*10,btVector3(1,1,0));
-					idraw->drawLine(o0,o0+a1*10,btVector3(1,1,0));
-					idraw->drawLine(o1,o1+a0*10,btVector3(0,1,1));
-					idraw->drawLine(o1,o1+a1*10,btVector3(0,1,1));
-					break;
-				}
-				default:
-				{
-				}
-					
-			}		
-		}
-	}
-}
-
-//
-void			btSoftBodyHelpers::DrawInfos(		btSoftBody* psb,
-											 btIDebugDraw* idraw,
-											 bool masses,
-											 bool areas,
-											 bool /*stress*/)
-{
-	for(int i=0;i<psb->m_nodes.size();++i)
-	{
-		const btSoftBody::Node&	n=psb->m_nodes[i];
-		char					text[2048]={0};
-		char					buff[1024];
-		if(masses)
-		{
-			sprintf(buff," M(%.2f)",1/n.m_im);
-			strcat(text,buff);
-		}
-		if(areas)
-		{
-			sprintf(buff," A(%.2f)",n.m_area);
-			strcat(text,buff);
-		}
-		if(text[0]) idraw->draw3dText(n.m_x,text);
-	}
-}
-
-//
-void			btSoftBodyHelpers::DrawNodeTree(	btSoftBody* psb,
-												btIDebugDraw* idraw,
-												int mindepth,
-												int maxdepth)
-{
-	drawTree(idraw,psb->m_ndbvt.m_root,0,btVector3(1,0,1),btVector3(1,1,1),mindepth,maxdepth);
-}
-
-//
-void			btSoftBodyHelpers::DrawFaceTree(	btSoftBody* psb,
-												btIDebugDraw* idraw,
-												int mindepth,
-												int maxdepth)
-{
-	drawTree(idraw,psb->m_fdbvt.m_root,0,btVector3(0,1,0),btVector3(1,0,0),mindepth,maxdepth);
-}
-
-//
-void			btSoftBodyHelpers::DrawClusterTree(	btSoftBody* psb,
-												   btIDebugDraw* idraw,
-												   int mindepth,
-												   int maxdepth)
-{
-	drawTree(idraw,psb->m_cdbvt.m_root,0,btVector3(0,1,1),btVector3(1,0,0),mindepth,maxdepth);
-}
-
-
-//The btSoftBody object from the BulletSDK includes an array of Nodes and Links. These links appear
-// to be first set up to connect a node to between 5 and 6 of its neighbors [480 links], 
-//and then to the rest of the nodes after the execution of the Floyd-Warshall graph algorithm 
-//[another 930 links]. 
-//The way the links are stored by default, we have a number of cases where adjacent links share a node in common
-// - this leads to the creation of a data dependency through memory. 
-//The PSolve_Links() function reads and writes nodes as it iterates over each link. 
-//So, we now have the possibility of a data dependency between iteration X 
-//that processes link L with iteration X+1 that processes link L+1 
-//because L and L+1 have one node in common, and iteration X updates the positions of that node, 
-//and iteration X+1 reads in the position of that shared node.
-//
-//Such a memory dependency limits the ability of a modern CPU to speculate beyond 
-//a certain point because it has to respect a possible dependency 
-//- this prevents the CPU from making full use of its out-of-order resources. 
-//If we re-order the links such that we minimize the cases where a link L and L+1 share a common node, 
-//we create a temporal gap between when the node position is written, 
-//and when it is subsequently read. This in turn allows the CPU to continue execution without 
-//risking a dependency violation. Such a reordering would result in significant speedups on 
-//modern CPUs with lots of execution resources. 
-//In our testing, we see it have a tremendous impact not only on the A7, 
-//but also on all x86 cores that ship with modern Macs. 
-//The attached source file includes a single function (ReoptimizeLinkOrder) which can be called on a 
-//btSoftBody object in the solveConstraints() function before the actual solver is invoked, 
-//or right after generateBendingConstraints() once we have all 1410 links.
-
-
-//===================================================================
-//
-//
-// This function takes in a list of interdependent Links and tries 
-// to maximize the distance between calculation
-// of dependent links.  This increases the amount of parallelism that can
-// be exploited by out-of-order instruction processors with large but
-// (inevitably) finite instruction windows.
-//
-//===================================================================
-
-// A small structure to track lists of dependent link calculations
-class LinkDeps_t {
-	public:
-	int value;			// A link calculation that is dependent on this one
-		// Positive values = "input A" while negative values = "input B"
-	LinkDeps_t *next;	// Next dependence in the list
-};
-typedef LinkDeps_t *LinkDepsPtr_t;
-
-// Dependency list constants
-#define REOP_NOT_DEPENDENT	-1
-#define REOP_NODE_COMPLETE	-2	// Must be less than REOP_NOT_DEPENDENT
-
-
-void btSoftBodyHelpers::ReoptimizeLinkOrder(btSoftBody *psb /* This can be replaced by a btSoftBody pointer */)
-{
-	int i, nLinks=psb->m_links.size(), nNodes=psb->m_nodes.size();
-	btSoftBody::Link *lr;
-	int ar, br;
-	btSoftBody::Node *node0 = &(psb->m_nodes[0]);
-	btSoftBody::Node *node1 = &(psb->m_nodes[1]);
-	LinkDepsPtr_t linkDep;
-	int readyListHead, readyListTail, linkNum, linkDepFrees, depLink;
-	
-	// Allocate temporary buffers
-	int *nodeWrittenAt = new int[nNodes+1];	// What link calculation produced this node's current values?
-	int *linkDepA = new int[nLinks];			// Link calculation input is dependent upon prior calculation #N
-	int *linkDepB = new int[nLinks];
-	int *readyList = new int[nLinks];		// List of ready-to-process link calculations (# of links, maximum)
-	LinkDeps_t *linkDepFreeList = new LinkDeps_t[2*nLinks];		// Dependent-on-me list elements (2x# of links, maximum)
-	LinkDepsPtr_t *linkDepListStarts = new LinkDepsPtr_t[nLinks];	// Start nodes of dependent-on-me lists, one for each link
-		
-	// Copy the original, unsorted links to a side buffer
-	btSoftBody::Link *linkBuffer = new btSoftBody::Link[nLinks];
-	memcpy(linkBuffer, &(psb->m_links[0]), sizeof(btSoftBody::Link)*nLinks);
-
-	// Clear out the node setup and ready list
-	for (i=0; i < nNodes+1; i++) {
-		nodeWrittenAt[i] = REOP_NOT_DEPENDENT;
-	}
-	for (i=0; i < nLinks; i++) {
-		linkDepListStarts[i] = NULL;
-	}
-	readyListHead = readyListTail = linkDepFrees = 0;
-
-	// Initial link analysis to set up data structures
-	for (i=0; i < nLinks; i++) {
-	
-		// Note which prior link calculations we are dependent upon & build up dependence lists
-		lr = &(psb->m_links[i]);
-		ar = (lr->m_n[0] - node0)/(node1 - node0);
-		br = (lr->m_n[1] - node0)/(node1 - node0);
-		if (nodeWrittenAt[ar] > REOP_NOT_DEPENDENT) {
-			linkDepA[i] = nodeWrittenAt[ar];
-			linkDep = &linkDepFreeList[linkDepFrees++];
-			linkDep->value = i;
-			linkDep->next = linkDepListStarts[nodeWrittenAt[ar]];
-			linkDepListStarts[nodeWrittenAt[ar]] = linkDep;
-		} else {
-			linkDepA[i] = REOP_NOT_DEPENDENT;
-		}
-		if (nodeWrittenAt[br] > REOP_NOT_DEPENDENT) {
-			linkDepB[i] = nodeWrittenAt[br];
-			linkDep = &linkDepFreeList[linkDepFrees++];
-			linkDep->value = -(i+1);
-			linkDep->next = linkDepListStarts[nodeWrittenAt[br]];
-			linkDepListStarts[nodeWrittenAt[br]] = linkDep;
-		} else {
-			linkDepB[i] = REOP_NOT_DEPENDENT;
-		}
-		
-		// Add this link to the initial ready list, if it is not dependent on any other links
-		if ((linkDepA[i] == REOP_NOT_DEPENDENT) && (linkDepB[i] == REOP_NOT_DEPENDENT)) {
-			readyList[readyListTail++] = i;
-			linkDepA[i] = linkDepB[i] = REOP_NODE_COMPLETE;	// Probably not needed now
-		}
-		
-		// Update the nodes to mark which ones are calculated by this link
-		nodeWrittenAt[ar] = nodeWrittenAt[br] = i;
-	}
-	
-	// Process the ready list and create the sorted list of links
-	// -- By treating the ready list as a queue, we maximize the distance between any
-	//    inter-dependent node calculations
-	// -- All other (non-related) nodes in the ready list will automatically be inserted
-	//    in between each set of inter-dependent link calculations by this loop
-	i = 0;
-	while (readyListHead != readyListTail) {
-		// Use ready list to select the next link to process
-		linkNum = readyList[readyListHead++];
-		// Copy the next-to-calculate link back into the original link array
-		psb->m_links[i++] = linkBuffer[linkNum];
-
-		// Free up any link inputs that are dependent on this one
-		linkDep = linkDepListStarts[linkNum];
-		while (linkDep) {
-			depLink = linkDep->value;
-			if (depLink >= 0) {
-				linkDepA[depLink] = REOP_NOT_DEPENDENT;
-			} else {
-				depLink = -depLink - 1;
-				linkDepB[depLink] = REOP_NOT_DEPENDENT;
-			}
-			// Add this dependent link calculation to the ready list if *both* inputs are clear
-			if ((linkDepA[depLink] == REOP_NOT_DEPENDENT) && (linkDepB[depLink] == REOP_NOT_DEPENDENT)) {
-				readyList[readyListTail++] = depLink;
-				linkDepA[depLink] = linkDepB[depLink] = REOP_NODE_COMPLETE;	// Probably not needed now
-			}
-			linkDep = linkDep->next;
-		}
-	}
-
-	// Delete the temporary buffers
-	delete [] nodeWrittenAt;
-	delete [] linkDepA;
-	delete [] linkDepB;
-	delete [] readyList;
-	delete [] linkDepFreeList;
-	delete [] linkDepListStarts;
-	delete [] linkBuffer;
-}
-
-
-//
-void			btSoftBodyHelpers::DrawFrame(		btSoftBody* psb,
-											 btIDebugDraw* idraw)
-{
-	if(psb->m_pose.m_bframe)
-	{
-		static const btScalar	ascl=10;
-		static const btScalar	nscl=(btScalar)0.1;
-		const btVector3			com=psb->m_pose.m_com;
-		const btMatrix3x3		trs=psb->m_pose.m_rot*psb->m_pose.m_scl;
-		const btVector3			Xaxis=(trs*btVector3(1,0,0)).normalized();
-		const btVector3			Yaxis=(trs*btVector3(0,1,0)).normalized();
-		const btVector3			Zaxis=(trs*btVector3(0,0,1)).normalized();
-		idraw->drawLine(com,com+Xaxis*ascl,btVector3(1,0,0));
-		idraw->drawLine(com,com+Yaxis*ascl,btVector3(0,1,0));
-		idraw->drawLine(com,com+Zaxis*ascl,btVector3(0,0,1));
-		for(int i=0;i<psb->m_pose.m_pos.size();++i)
-		{
-			const btVector3	x=com+trs*psb->m_pose.m_pos[i];
-			drawVertex(idraw,x,nscl,btVector3(1,0,1));
-		}
-	}
-}
-
-//
-btSoftBody*		btSoftBodyHelpers::CreateRope(	btSoftBodyWorldInfo& worldInfo, const btVector3& from,
-											  const btVector3& to,
-											  int res,
-											  int fixeds)
-{
-	/* Create nodes	*/ 
-	const int		r=res+2;
-	btVector3*		x=new btVector3[r];
-	btScalar*		m=new btScalar[r];
-	int i;
-
-	for(i=0;i<r;++i)
-	{
-		const btScalar	t=i/(btScalar)(r-1);
-		x[i]=lerp(from,to,t);
-		m[i]=1;
-	}
-	btSoftBody*		psb= new btSoftBody(&worldInfo,r,x,m);
-	if(fixeds&1) psb->setMass(0,0);
-	if(fixeds&2) psb->setMass(r-1,0);
-	delete[] x;
-	delete[] m;
-	/* Create links	*/ 
-	for(i=1;i<r;++i)
-	{
-		psb->appendLink(i-1,i);
-	}
-	/* Finished		*/ 
-	return(psb);
-}
-
-//
-btSoftBody*		btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo,const btVector3& corner00,
-											   const btVector3& corner10,
-											   const btVector3& corner01,
-											   const btVector3& corner11,
-											   int resx,
-											   int resy,
-											   int fixeds,
-											   bool gendiags)
-{
-#define IDX(_x_,_y_)	((_y_)*rx+(_x_))
-	/* Create nodes	*/ 
-	if((resx<2)||(resy<2)) return(0);
-	const int	rx=resx;
-	const int	ry=resy;
-	const int	tot=rx*ry;
-	btVector3*	x=new btVector3[tot];
-	btScalar*	m=new btScalar[tot];
-	int iy;
-
-	for(iy=0;iy<ry;++iy)
-	{
-		const btScalar	ty=iy/(btScalar)(ry-1);
-		const btVector3	py0=lerp(corner00,corner01,ty);
-		const btVector3	py1=lerp(corner10,corner11,ty);
-		for(int ix=0;ix<rx;++ix)
-		{
-			const btScalar	tx=ix/(btScalar)(rx-1);
-			x[IDX(ix,iy)]=lerp(py0,py1,tx);
-			m[IDX(ix,iy)]=1;
-		}
-	}
-	btSoftBody*		psb=new btSoftBody(&worldInfo,tot,x,m);
-	if(fixeds&1)	psb->setMass(IDX(0,0),0);
-	if(fixeds&2)	psb->setMass(IDX(rx-1,0),0);
-	if(fixeds&4)	psb->setMass(IDX(0,ry-1),0);
-	if(fixeds&8)	psb->setMass(IDX(rx-1,ry-1),0);
-	delete[] x;
-	delete[] m;
-	/* Create links	and faces */ 
-	for(iy=0;iy<ry;++iy)
-	{
-		for(int ix=0;ix<rx;++ix)
-		{
-			const int	idx=IDX(ix,iy);
-			const bool	mdx=(ix+1)<rx;
-			const bool	mdy=(iy+1)<ry;
-			if(mdx) psb->appendLink(idx,IDX(ix+1,iy));
-			if(mdy) psb->appendLink(idx,IDX(ix,iy+1));
-			if(mdx&&mdy)
-			{
-				if((ix+iy)&1)
-				{
-					psb->appendFace(IDX(ix,iy),IDX(ix+1,iy),IDX(ix+1,iy+1));
-					psb->appendFace(IDX(ix,iy),IDX(ix+1,iy+1),IDX(ix,iy+1));
-					if(gendiags)
-					{
-						psb->appendLink(IDX(ix,iy),IDX(ix+1,iy+1));
-					}
-				}
-				else
-				{
-					psb->appendFace(IDX(ix,iy+1),IDX(ix,iy),IDX(ix+1,iy));
-					psb->appendFace(IDX(ix,iy+1),IDX(ix+1,iy),IDX(ix+1,iy+1));
-					if(gendiags)
-					{
-						psb->appendLink(IDX(ix+1,iy),IDX(ix,iy+1));
-					}
-				}
-			}
-		}
-	}
-	/* Finished		*/ 
-#undef IDX
-	return(psb);
-}
-
-//
-btSoftBody*		btSoftBodyHelpers::CreatePatchUV(btSoftBodyWorldInfo& worldInfo,
-												 const btVector3& corner00,
-												 const btVector3& corner10,
-												 const btVector3& corner01,
-												 const btVector3& corner11,
-												 int resx,
-												 int resy,
-												 int fixeds,
-												 bool gendiags,
-												 float* tex_coords)
-{
-
-	/*
-	*
-	*  corners:
-	*
-	*  [0][0]     corner00 ------- corner01   [resx][0]
-	*                |                |
-	*                |                |
-	*  [0][resy]  corner10 -------- corner11  [resx][resy]
-	*
-	*
-	*
-	*
-	*
-	*
-	*   "fixedgs" map:
-	*
-	*  corner00     -->   +1
-	*  corner01     -->   +2
-	*  corner10     -->   +4
-	*  corner11     -->   +8
-	*  upper middle -->  +16
-	*  left middle  -->  +32
-	*  right middle -->  +64
-	*  lower middle --> +128
-	*  center       --> +256
-	*
-	*
-	*   tex_coords size   (resx-1)*(resy-1)*12
-	*
-	*
-	*
-	*     SINGLE QUAD INTERNALS
-	*
-	*  1) btSoftBody's nodes and links,
-	*     diagonal link is optional ("gendiags")
-	*
-	*
-	*    node00 ------ node01
-	*      | .              
-	*      |   .            
-	*      |     .          
-	*      |       .        
-	*      |         .      
-	*    node10        node11
-	*
-	*
-	*
-	*   2) Faces:
-	*      two triangles,
-	*      UV Coordinates (hier example for single quad)
-	*      
-	*     (0,1)          (0,1)  (1,1)
-	*     1 |\            3 \-----| 2
-	*       | \              \    |
-	*       |  \              \   |
-	*       |   \              \  |
-	*       |    \              \ |
-	*     2 |-----\ 3            \| 1
-	*     (0,0)    (1,0)       (1,0)
-	*
-	*
-	*
-	*
-	*
-	*
-	*/
-
-#define IDX(_x_,_y_)	((_y_)*rx+(_x_))
-	/* Create nodes		*/ 
-	if((resx<2)||(resy<2)) return(0);
-	const int	rx=resx;
-	const int	ry=resy;
-	const int	tot=rx*ry;
-	btVector3*	x=new btVector3[tot];
-	btScalar*	m=new btScalar[tot];
-
-	int iy;
-
-	for(iy=0;iy<ry;++iy)
-	{
-		const btScalar	ty=iy/(btScalar)(ry-1);
-		const btVector3	py0=lerp(corner00,corner01,ty);
-		const btVector3	py1=lerp(corner10,corner11,ty);
-		for(int ix=0;ix<rx;++ix)
-		{
-			const btScalar	tx=ix/(btScalar)(rx-1);
-			x[IDX(ix,iy)]=lerp(py0,py1,tx);
-			m[IDX(ix,iy)]=1;
-		}
-	}
-	btSoftBody*	psb=new btSoftBody(&worldInfo,tot,x,m);
-	if(fixeds&1)		psb->setMass(IDX(0,0),0);
-	if(fixeds&2)		psb->setMass(IDX(rx-1,0),0);
-	if(fixeds&4)		psb->setMass(IDX(0,ry-1),0);
-	if(fixeds&8)		psb->setMass(IDX(rx-1,ry-1),0);
-	if(fixeds&16)		psb->setMass(IDX((rx-1)/2,0),0);
-	if(fixeds&32)		psb->setMass(IDX(0,(ry-1)/2),0);
-	if(fixeds&64)		psb->setMass(IDX(rx-1,(ry-1)/2),0);
-	if(fixeds&128)		psb->setMass(IDX((rx-1)/2,ry-1),0);
-	if(fixeds&256)		psb->setMass(IDX((rx-1)/2,(ry-1)/2),0);
-	delete[] x;
-	delete[] m;
-
-
-	int z = 0;
-	/* Create links	and faces	*/ 
-	for(iy=0;iy<ry;++iy)
-	{
-		for(int ix=0;ix<rx;++ix)
-		{
-			const bool	mdx=(ix+1)<rx;
-			const bool	mdy=(iy+1)<ry;
-
-			int node00=IDX(ix,iy);
-			int node01=IDX(ix+1,iy);
-			int node10=IDX(ix,iy+1);
-			int node11=IDX(ix+1,iy+1);
-
-			if(mdx) psb->appendLink(node00,node01);
-			if(mdy) psb->appendLink(node00,node10);
-			if(mdx&&mdy)
-			{
-				psb->appendFace(node00,node10,node11);
-				if (tex_coords) {
-					tex_coords[z+0]=CalculateUV(resx,resy,ix,iy,0);
-					tex_coords[z+1]=CalculateUV(resx,resy,ix,iy,1);
-					tex_coords[z+2]=CalculateUV(resx,resy,ix,iy,0);
-					tex_coords[z+3]=CalculateUV(resx,resy,ix,iy,2);
-					tex_coords[z+4]=CalculateUV(resx,resy,ix,iy,3);
-					tex_coords[z+5]=CalculateUV(resx,resy,ix,iy,2);
-				}
-				psb->appendFace(node11,node01,node00);
-				if (tex_coords) {
-					tex_coords[z+6 ]=CalculateUV(resx,resy,ix,iy,3);
-					tex_coords[z+7 ]=CalculateUV(resx,resy,ix,iy,2);
-					tex_coords[z+8 ]=CalculateUV(resx,resy,ix,iy,3);
-					tex_coords[z+9 ]=CalculateUV(resx,resy,ix,iy,1);
-					tex_coords[z+10]=CalculateUV(resx,resy,ix,iy,0);
-					tex_coords[z+11]=CalculateUV(resx,resy,ix,iy,1);
-				}
-				if (gendiags) psb->appendLink(node00,node11);
-				z += 12;
-			}
-		}
-	}
-	/* Finished	*/ 
-#undef IDX
-	return(psb);
-}
-
-float   btSoftBodyHelpers::CalculateUV(int resx,int resy,int ix,int iy,int id)
-{
-
-	/*
-	*
-	*
-	*    node00 --- node01
-	*      |          |
-	*    node10 --- node11
-	*
-	*
-	*   ID map:
-	*
-	*   node00 s --> 0
-	*   node00 t --> 1
-	*
-	*   node01 s --> 3
-	*   node01 t --> 1
-	*
-	*   node10 s --> 0
-	*   node10 t --> 2
-	*
-	*   node11 s --> 3
-	*   node11 t --> 2
-	*
-	*
-	*/
-
-	float tc=0.0f;
-	if (id == 0) {
-		tc = (1.0f/((resx-1))*ix);
-	}
-	else if (id==1) {
-		tc = (1.0f/((resy-1))*(resy-1-iy));
-	}
-	else if (id==2) {
-		tc = (1.0f/((resy-1))*(resy-1-iy-1));
-	}
-	else if (id==3) {
-		tc = (1.0f/((resx-1))*(ix+1));
-	}
-	return tc;
-}
-//
-btSoftBody*		btSoftBodyHelpers::CreateEllipsoid(btSoftBodyWorldInfo& worldInfo,const btVector3& center,
-												   const btVector3& radius,
-												   int res)
-{
-	struct	Hammersley
-	{
-		static void	Generate(btVector3* x,int n)
-		{
-			for(int i=0;i<n;i++)
-			{
-				btScalar	p=0.5,t=0;
-				for(int j=i;j;p*=0.5,j>>=1) if(j&1) t+=p;
-				btScalar	w=2*t-1;
-				btScalar	a=(SIMD_PI+2*i*SIMD_PI)/n;
-				btScalar	s=btSqrt(1-w*w);
-				*x++=btVector3(s*btCos(a),s*btSin(a),w);
-			}
-		}
-	};
-	btAlignedObjectArray<btVector3>	vtx;
-	vtx.resize(3+res);
-	Hammersley::Generate(&vtx[0],vtx.size());
-	for(int i=0;i<vtx.size();++i)
-	{
-		vtx[i]=vtx[i]*radius+center;
-	}
-	return(CreateFromConvexHull(worldInfo,&vtx[0],vtx.size()));
-}
-
-
-
-//
-btSoftBody*		btSoftBodyHelpers::CreateFromTriMesh(btSoftBodyWorldInfo& worldInfo,const btScalar*	vertices,
-													 const int* triangles,
-													 int ntriangles, bool randomizeConstraints)
-{
-	int		maxidx=0;
-	int i,j,ni;
-
-	for(i=0,ni=ntriangles*3;i<ni;++i)
-	{
-		maxidx=btMax(triangles[i],maxidx);
-	}
-	++maxidx;
-	btAlignedObjectArray<bool>		chks;
-	btAlignedObjectArray<btVector3>	vtx;
-	chks.resize(maxidx*maxidx,false);
-	vtx.resize(maxidx);
-	for(i=0,j=0,ni=maxidx*3;i<ni;++j,i+=3)
-	{
-		vtx[j]=btVector3(vertices[i],vertices[i+1],vertices[i+2]);
-	}
-	btSoftBody*		psb=new btSoftBody(&worldInfo,vtx.size(),&vtx[0],0);
-	for( i=0,ni=ntriangles*3;i<ni;i+=3)
-	{
-		const int idx[]={triangles[i],triangles[i+1],triangles[i+2]};
-#define IDX(_x_,_y_) ((_y_)*maxidx+(_x_))
-		for(int j=2,k=0;k<3;j=k++)
-		{
-			if(!chks[IDX(idx[j],idx[k])])
-			{
-				chks[IDX(idx[j],idx[k])]=true;
-				chks[IDX(idx[k],idx[j])]=true;
-				psb->appendLink(idx[j],idx[k]);
-			}
-		}
-#undef IDX
-		psb->appendFace(idx[0],idx[1],idx[2]);
-	}
-
-	if (randomizeConstraints)
-	{
-		psb->randomizeConstraints();
-	}
-
-	return(psb);
-}
-
-//
-btSoftBody*		btSoftBodyHelpers::CreateFromConvexHull(btSoftBodyWorldInfo& worldInfo,	const btVector3* vertices,
-														int nvertices, bool randomizeConstraints)
-{
-	HullDesc		hdsc(QF_TRIANGLES,nvertices,vertices);
-	HullResult		hres;
-	HullLibrary		hlib;/*??*/ 
-	hdsc.mMaxVertices=nvertices;
-	hlib.CreateConvexHull(hdsc,hres);
-	btSoftBody*		psb=new btSoftBody(&worldInfo,(int)hres.mNumOutputVertices,
-		&hres.m_OutputVertices[0],0);
-	for(int i=0;i<(int)hres.mNumFaces;++i)
-	{
-		const int idx[]={	static_cast<int>(hres.m_Indices[i*3+0]),
-							static_cast<int>(hres.m_Indices[i*3+1]),
-							static_cast<int>(hres.m_Indices[i*3+2])};
-		if(idx[0]<idx[1]) psb->appendLink(	idx[0],idx[1]);
-		if(idx[1]<idx[2]) psb->appendLink(	idx[1],idx[2]);
-		if(idx[2]<idx[0]) psb->appendLink(	idx[2],idx[0]);
-		psb->appendFace(idx[0],idx[1],idx[2]);
-	}
-	hlib.ReleaseResult(hres);
-	if (randomizeConstraints)
-	{
-		psb->randomizeConstraints();
-	}
-	return(psb);
-}
-
-
-
-
-static int nextLine(const char* buffer)
-{
-	int numBytesRead=0;
-
-	while (*buffer != '\n')
-	{
-		buffer++;
-		numBytesRead++;
-	}
-
-	
-	if (buffer[0]==0x0a)
-	{
-		buffer++;
-		numBytesRead++;
-	}
-	return numBytesRead;
-}
-
-/* Create from TetGen .ele, .face, .node data							*/ 
-btSoftBody*	btSoftBodyHelpers::CreateFromTetGenData(btSoftBodyWorldInfo& worldInfo,
-													const char* ele,
-													const char* face,
-													const char* node,
-													bool bfacelinks,
-													bool btetralinks,
-													bool bfacesfromtetras)
-{
-btAlignedObjectArray<btVector3>	pos;
-int								nnode=0;
-int								ndims=0;
-int								nattrb=0;
-int								hasbounds=0;
-int result = sscanf(node,"%d %d %d %d",&nnode,&ndims,&nattrb,&hasbounds);
-result = sscanf(node,"%d %d %d %d",&nnode,&ndims,&nattrb,&hasbounds);
-node += nextLine(node);
-
-pos.resize(nnode);
-for(int i=0;i<pos.size();++i)
-	{
-	int			index=0;
-	//int			bound=0;
-	float	x,y,z;
-	sscanf(node,"%d %f %f %f",&index,&x,&y,&z);
-
-//	sn>>index;
-//	sn>>x;sn>>y;sn>>z;
-	node += nextLine(node);
-
-	//for(int j=0;j<nattrb;++j) 
-	//	sn>>a;
-
-	//if(hasbounds) 
-	//	sn>>bound;
-
-	pos[index].setX(btScalar(x));
-	pos[index].setY(btScalar(y));
-	pos[index].setZ(btScalar(z));
-	}
-btSoftBody*						psb=new btSoftBody(&worldInfo,nnode,&pos[0],0);
-#if 0
-if(face&&face[0])
-	{
-	int								nface=0;
-	sf>>nface;sf>>hasbounds;
-	for(int i=0;i<nface;++i)
-		{
-		int			index=0;
-		int			bound=0;
-		int			ni[3];
-		sf>>index;
-		sf>>ni[0];sf>>ni[1];sf>>ni[2];
-		sf>>bound;
-		psb->appendFace(ni[0],ni[1],ni[2]);	
-		if(btetralinks)
-			{
-			psb->appendLink(ni[0],ni[1],0,true);
-			psb->appendLink(ni[1],ni[2],0,true);
-			psb->appendLink(ni[2],ni[0],0,true);
-			}
-		}
-	}
-#endif
-
-if(ele&&ele[0])
-	{
-	int								ntetra=0;
-	int								ncorner=0;
-	int								neattrb=0;
-	sscanf(ele,"%d %d %d",&ntetra,&ncorner,&neattrb);
-	ele += nextLine(ele);
-	
-	//se>>ntetra;se>>ncorner;se>>neattrb;
-	for(int i=0;i<ntetra;++i)
-		{
-		int			index=0;
-		int			ni[4];
-
-		//se>>index;
-		//se>>ni[0];se>>ni[1];se>>ni[2];se>>ni[3];
-		sscanf(ele,"%d %d %d %d %d",&index,&ni[0],&ni[1],&ni[2],&ni[3]);
-		ele+=nextLine(ele);
-		//for(int j=0;j<neattrb;++j) 
-		//	se>>a;
-		psb->appendTetra(ni[0],ni[1],ni[2],ni[3]);
-		if(btetralinks)
-			{
-			psb->appendLink(ni[0],ni[1],0,true);
-			psb->appendLink(ni[1],ni[2],0,true);
-			psb->appendLink(ni[2],ni[0],0,true);
-			psb->appendLink(ni[0],ni[3],0,true);
-			psb->appendLink(ni[1],ni[3],0,true);
-			psb->appendLink(ni[2],ni[3],0,true);
-			}
-		}
-	}
-printf("Nodes:  %u\r\n",psb->m_nodes.size());
-printf("Links:  %u\r\n",psb->m_links.size());
-printf("Faces:  %u\r\n",psb->m_faces.size());
-printf("Tetras: %u\r\n",psb->m_tetras.size());
-return(psb);
-}
-